diff --git a/.gitattributes b/.gitattributes
index 97a8553f0c16bb93df08c47b392dea4581bd390c..4e0bfd8305df91f4739d9e8c49c2a527d37cfaff 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2623,3 +2623,103 @@ place_empty_cup_wp1/place_empty_cup_wp1/data/episode96.hdf5 filter=lfs diff=lfs
 place_empty_cup_wp1/place_empty_cup_wp1/data/episode97.hdf5 filter=lfs diff=lfs merge=lfs -text
 place_empty_cup_wp1/place_empty_cup_wp1/data/episode98.hdf5 filter=lfs diff=lfs merge=lfs -text
 place_empty_cup_wp1/place_empty_cup_wp1/data/episode99.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode0.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode1.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode10.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode11.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode12.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode13.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode14.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode15.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode16.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode17.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode18.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode19.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode2.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode20.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode21.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode22.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode23.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode24.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode25.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode26.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode27.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode28.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode29.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode3.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode30.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode31.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode32.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode33.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode34.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode35.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode36.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode37.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode38.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode39.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode4.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode40.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode41.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode42.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode43.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode44.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode45.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode46.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode47.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode48.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode49.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode5.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode50.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode51.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode52.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode53.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode54.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode55.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode56.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode57.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode58.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode59.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode6.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode60.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode61.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode62.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode63.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode64.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode65.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode66.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode67.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode68.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode69.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode7.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode70.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode71.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode72.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode73.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode74.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode75.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode76.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode77.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode78.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode79.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode8.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode80.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode81.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode82.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode83.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode84.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode85.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode86.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode87.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode88.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode89.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode9.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode90.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode91.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode92.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode93.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode94.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode95.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode96.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode97.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode98.hdf5 filter=lfs diff=lfs merge=lfs -text
+place_empty_cup_wp2/place_empty_cup_wp2/data/episode99.hdf5 filter=lfs diff=lfs merge=lfs -text
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode0.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode0.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..18dfe705bfc40b27b4da0eef3a4a1994342d61d8
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode0.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba144ce280c79d8254df46e12b95efeeb7815854c0c22ce3f9acee57c1edf136
+size 169085
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode1.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode1.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..812c8415cfcaa5263094efcda37a07f7d5ea7143
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode1.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7d78604aad6a7b7b030504557f139f50ab91f23ae5d4511e22a19f7ba643021
+size 147495
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode10.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode10.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2345a4125d3ff5e79104724f0d3a5cd598737f25
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode10.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed5128921bbd5ac46972b0fd31946b4fbcf8534ab3f4a3d61e376f1d785d47fb
+size 160619
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode11.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode11.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c9c16ce900b7b21d3bc687b63544c1f8bb6aa418
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode11.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7e33cc3e2f1d02406531300db5a76d92536983a664e07d807df3c05223f9417
+size 176175
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode12.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode12.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..76ae534a715be62dc02af1be46efa3dfb1b80740
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode12.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad7e53a28d8ca27257259defc407e3f19562e0dd7b37d23514a26a46f231ab10
+size 148983
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode13.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode13.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..26cc2eb236c7eadf30c06e54109f373111c4722e
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode13.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aad5f804415639643222403b9ac5faed4d3bcde5c6a120c38987dad9bb470fd
+size 154153
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode14.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode14.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..00e40bb3884746efcebeda74256324825532ff40
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode14.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54b613bcb36170d0d6053bc868297aaddbf99e2bec75c9ab11144737c3afcefa
+size 168653
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode15.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode15.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..fc19588fe2dd5c576ff769abdd61f59922df5b0f
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode15.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52453df1b82e72e47c5ff47f1c82155f4ddb55bb16f828499f1d16e8ff305db1
+size 158809
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode16.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode16.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b9926860282bf6a590bc4485c408648e6a20bc60
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode16.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b780477b97b2f9cfe734952b918b1a55446c9789ef5c425521a667e615965dd0
+size 158379
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode17.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode17.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..93d4ea475cbfb32e838fe91b94af37c56c91994b
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode17.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74d393580f2cfb4d43ac1809650b4834928ae716aed8cb902d1f243a8335e8cd
+size 162843
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode18.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode18.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ad5201f5822ec043046e38c0bf52846318de300e
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode18.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94242582ce1f1e89a419c07593ecf64a078fe29750c1b7a65e80d6cdb695e6ec
+size 151081
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode19.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode19.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0b3aef834512c90485ee6a3139a1c4d4340e075a
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode19.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b936eda0ea90e4b1e1827e48a79672cc10717dd9b3d79b27d2af3e3ec34270a3
+size 157739
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode2.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode2.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..043ba0ddc43d6fab2ef306eff300f2c99a02dfc9
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode2.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:875b3674b765633cec1d309f4a8a91de75b1a9a7e78d158e0f3c2b635f80d7f0
+size 166141
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode20.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode20.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..633885acbce4d73de710afad793bd1dc2bb0a618
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode20.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b9b7bbce158b3c6f2bdd32bf824b2b5eb962a1382a27852dc22823e71594505
+size 167355
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode21.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode21.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9c5bd2fe151e408aad86a478441944d9594f8589
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode21.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98fa4af79ad9f4d11e2b6411c2ebb2deccd59e309278f24ea1f03d8b6ffd5424
+size 151479
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode22.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode22.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c99ae44dde76fcc39bddc4c87e889a0c076639fc
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode22.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bd457637c0d611fb89a8cb3a5e20cd8faf778f01fc58cb519078283b89b7cbc
+size 153817
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode23.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode23.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0ed4c41d8059401893ab1573bcdd97a361ad59bb
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode23.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:775ef5e12cfe6a2fdd8c25e34813164491e4c3dc9daac1a93fa2cd243fe993b9
+size 156793
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode24.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode24.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e5f3b7859a88b72df50b9b69f0d5ae7ca99ccaf8
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode24.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:927aa46766b5fdeb0d46baf0fa9eeac8e58c7f5c9eee446ee3cd7a722e28be9f
+size 154969
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode25.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode25.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..bcdfb98a37a5875e2063759d532f2da2e0f8f92e
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode25.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eac395fb05050e5099fa17a1239568eacb404190ff71794cf4c753f68cfaab55
+size 163405
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode26.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode26.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..a5b472314325ccb6a7fa9b41af00a61f96278186
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode26.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c49db232bbe9d9c909bd084f90c6df20752ffa81063e8145e7b409e72a5beed4
+size 150951
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode27.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode27.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b5217b8adc21c05088be778207dba1734eb99c57
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode27.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea503b223b32e090416894d00d16841c56e97d277a17f0ee10c24cf23742b2a0
+size 173005
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode28.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode28.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..cc158baa5206072cc4c90faa20b61ec1a9317728
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode28.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbf8754f636a0bfc46e595808705b83958e640467c70d4a119f5a6c347eeb1bd
+size 157979
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode29.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode29.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d6746a2c9ff3ba2bd613a9b5669c72058d19bc23
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode29.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70a6454d05771fd736733dd73cd6c8982bb6bf323dcbcd48d07c3c46226385d5
+size 153673
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode3.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode3.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..46f332381b4856658342d3f75c72e0d4a30e3866
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode3.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fdcb0655c0e3dd6b22946c7892ea9a9357e26eadcb227739152fe1ca3fef77c
+size 145045
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode30.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode30.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..56bc2a0286c00c3036d34b6df2ecedf2732d817a
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode30.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2beca0fb713253c915c50cdba20e6afa8dce96b7c18ae206fe7e6ecfb74aafb
+size 163753
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode31.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode31.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..428a3569daab71e04d209bdbc5ac106409e494f4
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode31.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd5d8048ac5e9aed2c1fc500873a0dfa6788bc2326c530a57c96a18253fd2578
+size 152247
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode32.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode32.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ed9b3031ab83e9c15cd533df4c2116acba534837
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode32.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dd758212c339a0c76392ce905d18ed4c05b9d1f65a71204a88b813ce118af09
+size 170027
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode33.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode33.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9494a9a5177dc562a5e00a86d0589b13ddf25ea0
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode33.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d4766f3556590b7193bf1b7f0f7128149290f8e3b35a77d84f5a6eceae86577
+size 152087
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode34.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode34.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..96d38d1fbfc18a2d58e30d2b0d8604b377c1bb68
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode34.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9e8dbbb74316b546f1409a28e5ad3c98c324e168f35cd76e63c260db462fade
+size 173053
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode35.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode35.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9295b25428cb56e359f2c7fb4094ca1bfb286afd
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode35.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96cf3729f559d19263599d02f2cd3b5a69cd76c4ba9f4a10871c178578484839
+size 167483
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode36.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode36.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..fce8bcc23d9ae6a9c8642875e4d186227fa4c153
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode36.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b678db6b42387a1b85bd65caf9a59cc05e28ab4c8513474d55a177863540a83
+size 168267
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode37.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode37.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..efcd7dd1454abd5e4e2bd80ad9947861b8534774
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode37.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc4e60d18dd9c3a77bdc38a5302c853e9f469c6d86f5ca1a9c0f9158303d387e
+size 156793
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode38.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode38.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..12f86ee6cb8972921adafb5f967b02b31e3f366e
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode38.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c4f770c6ab40f394f8da2f2441f7c34a33b5cd9afd90dbc2d094c08b2e52a07
+size 158987
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode39.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode39.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..af7dbb6c80debf4c920691add003793f420952b2
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode39.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:114942b85e894c2f66ebb70622fe8754af6fa99324fb0416b733f28742071349
+size 165099
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode4.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode4.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..5ac576722395f9e57842d5389e99fc8f39c73876
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode4.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a749e0ee3dd0a38c6b6efed8864b371d701537b6f50ab96c2ebe63f6d3f9ffe2
+size 158315
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode40.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode40.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ac76195944c45c68b264030c5ff992e16756f2b7
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode40.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba6edc5a05485fbe183107a7ebf809c5072de5fc9ea7c70c30cbd09bf28c77a7
+size 159625
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode41.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode41.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..070a5f9d9e50fcf43596dafee6618299757ae14a
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode41.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c331b357274d39a5f2a8f562ad28204e47162eda44d5c9cbfb182eb8211799e
+size 158713
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode42.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode42.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..34341f286c71f9c57a1dc763c5c29ef95e3c1755
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode42.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd5ac3655520b49f16bfc122ae279b67112377e73ca6f9f522da20ae9de73d63
+size 174125
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode43.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode43.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..a78e2f95f59504a52ff20347458d50713cb87cfc
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode43.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eab5e3b2cd25cea3cda71a4f74d11892ebc17893be675460697d12732c7445bc
+size 162443
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode44.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode44.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2344f7aacdefac98b3a3e1b4e0869c37dd7c5206
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode44.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aea6fefa2ca282c82550460e4c9c5b01c35eaae0e48d7a71f76916201fc311a
+size 158843
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode45.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode45.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c467ef128ee4ce23b3cd569c93ba39c7dfb482c7
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode45.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4eabf517ca638a02a8ddde340c506f25c77bb9c7953a94da9781b27ec13712c5
+size 148201
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode46.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode46.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..1539fa68014d475515dc07aa1f489c95ca40322c
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode46.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:649bd8f8bcd75434e925f285a5e0dfca7f5464b1e33a0f056f2e06f61ee19ba9
+size 148633
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode47.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode47.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2701dd72416420b82109491e60396daf9ca0a5cd
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode47.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:820e61c4b3cb9835669748f5f683a190d5c37e1000ff8949940af300b97449ef
+size 159001
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode48.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode48.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f2946a9def19e13e137846c00b01c9f708c9afc9
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode48.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ae888688d60c6b8a55a880df97b72d3078ded02ecdf8d6c831577043e23645e
+size 152425
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode49.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode49.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..cb64bfc297c4c4d053d4bac0094cf0fd016f1c45
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode49.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:201bc4b3f76171e799dce076593cdef94c39507d1a77f1adb2d0d6e6a3572eac
+size 174253
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode5.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode5.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..cd332a4927fe64b39a27236adea02dd09f691c23
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode5.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e01958358c913b8ffbbde93ed33af56a3e6ae7e0544cc00cb680e5483b88e3ab
+size 155401
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode50.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode50.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f4ca5905e84a0ce4f07e4ad60937d9c8077e6a5e
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode50.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89d288f21f179b20816af406470d956452585d5b563140d572c137f2b6a05cd4
+size 158795
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode51.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode51.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..8555104c2b68fbf31a7edcaf98d3f30395a84562
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode51.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4fcc6eb616d49591a18155e3642dabd8432fef745c026fdbbed104fefca4e93
+size 149543
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode52.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode52.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..69d40cdfb984ffd5a4e3fbd73edb596a28259e5b
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode52.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a688a876c2f41ad89d21d44a102525895b950f2251b09ec3fbf713502dd663f2
+size 152631
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode53.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode53.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4b2d3e8843a5e4857eb8c58bb9ee6da5eeebcf09
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode53.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be1acf07d044871225b5132b205a0e12f47e62a436cd019d64de62dd7b1a95a3
+size 155305
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode54.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode54.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..980006a76dd80df461a068cfb40c75eb71c16173
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode54.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d92b8a49be33d3e528a6708102f2d9688d39f22f2d84670bb63593710a4c4b7e
+size 161545
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode55.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode55.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d6b0a52db58284683d2a9a955ae54bfafbc7325f
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode55.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d9f900d2011812eafb12e8143e96ad5a65b35cbffdf116624d9ebd06e773f1a
+size 233952
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode56.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode56.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..e79c1143026d0071e840bb8db10b2d9272e21d34
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode56.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40b12fbb5b297a29e9e5ecd07c87119dcd9f89c2c995f32bfb29f80628fa84a4
+size 168395
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode57.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode57.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..5002dfde744396e056988cc8e17fe4846213cd71
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode57.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab36902ab8a2a5d8e28944a4472ad4ca1b897a40048c24f0bead12bd65356c02
+size 173631
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode58.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode58.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d4d7b29c8dacacc86ac40c7131c0fafb158bacf8
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode58.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b26919a4c81676dbebe47d0666191f3a8ab336533a67b7af1024798da38c2f69
+size 155099
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode59.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode59.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..fbcc63ae569779c24cd9925078904e2fb57c25cb
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode59.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d446876660604643c449a5496756b734367207b00837a3f886f95715f1226dd9
+size 146821
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode6.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode6.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..0fa392a6e5b74fdf44e3fa5afc15917b9dc71733
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode6.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1547329ffd9d135982638997c419fc6fa82f5cf01aba5ffc36cc559f145cb33a
+size 158761
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode60.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode60.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..969a0fcae02a7c237c06c62d082727a01f0b541d
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode60.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46eb0412cacbb5b65aa723659b1b8a08c96ec82794b1535ee4823cc2f4347008
+size 160187
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode61.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode61.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..30b08c08155137b8ba025dbc5db83aba3409e080
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode61.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:171d9b87d3fac88f616dda3ba5a249676e946d7e02271bb395c141a614b8dc71
+size 153207
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode62.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode62.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c94c58e5a2532d4bd47c6ca9936c6de2ba0aac63
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode62.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfba5afe98e0981e3815aee4f115174cd4baedea5d575047ab6474f301e40d68
+size 164425
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode63.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode63.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..5be6f3a4eef4ebf734b536fda9e49ad169d3c774
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode63.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56b6be73519fb5284c40a7d06e456e3348e1b0b4b22e083adf8ba9ff253ca6aa
+size 176413
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode64.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode64.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c982dfa0b412cb100cdc98b6fd61e597950c165f
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode64.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a62868a5210248878677b74d9405997ed2d9738bc6b5ad761545f0334ded832
+size 157257
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode65.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode65.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..4f79f5d9e49642e790825afde87dd76c954528b8
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode65.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52ae17d656205004b893ef3b2498f03ec66584486357ccd3526c537982e6930f
+size 155913
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode66.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode66.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c1c27f4247c47712a8e9ec82b65b00208f1bcb9c
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode66.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:892e339723c57daa2f9934063c6cb8bdf3aa29d1ef30f4cd6c66260fb1e2c1f1
+size 161401
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode67.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode67.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9c0befcc7f5bf0f92aa63d524ef90699086814a0
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode67.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c1a95a9b66eeff365a98c3473119e7877c36ecd3b5bc6678a25be1ceee40a25
+size 151369
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode68.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode68.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d6122c3b0aef3e0d0d1e098ddce4f4e3fe392b66
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode68.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48aa38714e9bdc7ad6bdbc42f5a70a5a19ae5437fb5b47db12dcd1ed2149662e
+size 158457
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode69.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode69.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..bfd19d6bbc35426c49542b775bfbdc6e3380a3ae
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode69.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5acaafad04517c31f542245d4d2011ccf89e0bcd3345b0fe88aac9464b5fc11f
+size 166521
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode7.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode7.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..1582ef0d14a184d33194ca7578c572950e4d81bc
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode7.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a92f98c1f0e44f7fbb05cacb20a5b88ec5e3aa9d9cee2665ec1cdb169c9c5914
+size 152247
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode70.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode70.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9764dd6d85b5e388a91f781b0e72bdf3d8023626
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode70.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5230ca82ccf32734c2f04edb1b16dccaf481dc916f8160603f0e01d84558b97a
+size 154777
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode71.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode71.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d79e941e81e0d298630fd1342e0b19db8c075e59
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode71.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b760782c4ccaf7fc7173c599a9f28c722407a0717052c39f26270c78f27014cf
+size 167677
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode72.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode72.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..eeeb0fef663241a62a13022ec8854cc26c0374ab
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode72.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73e2527d1908894791fd064782e46cd400e8f0f9c499f4dedb0bc81fc2999b74
+size 182715
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode73.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode73.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c40b4d763a96a69e6457e8aadd51ed7dcb6d786c
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode73.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33580977e670e197774116f683fa6f053ce2f61139595648ebed85fd7ceb9ead
+size 157129
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode74.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode74.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..f87d9f9c6ceee4950836eb3fddcafeace1149123
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode74.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f24ca7d837608b6ba41b45f9f5f0e1f259dc9b93d8cd0c5747e091a68f0d81e
+size 167689
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode75.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode75.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..bb991a104ff798fd3eed8ee9bff4bb4c02aa7631
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode75.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ce2c55a8d243c0a9a2cb1c3fa2e0f48258012d81d6e1ba7962647ca0565b701
+size 155833
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode76.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode76.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b7a0db4401260c2cac0785f15ee8ba44cda95c9d
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode76.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86c855d22b23a73389b5e35602ada92082e5f19facc03cca0b0138ecf5643cb8
+size 166011
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode77.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode77.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..72f3f4f4324d60984b6c6abc3c85b28263fda1cd
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode77.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b62f839af880af23fd1b391e48b90147dae0f32c0d58d3c4bf00f424cb98f02
+size 158953
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode78.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode78.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..955216b681302d67ba6550bf391076e731b04398
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode78.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a27ec397b1c3981e365d7c6fbefe2c4070a07446051219d4023658592a586e36
+size 177661
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode79.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode79.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d48fc0df29f063b2c66a541bd8204a7dfece1621
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode79.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35c2bf9fbf18ed2fed27aca0ae3cb17e1cdeadeac8b86bbc338ffa6ea17d89ff
+size 160633
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode8.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode8.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..d8d3a1d7bb51e1b52b50d6b2212a1f82c2e87c65
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode8.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6238172ef5b3eb93a33e49756d0dca92a3b4ad83b7772adc1d5be43fb855496
+size 163257
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode80.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode80.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..6ea65edcd3a87732fa4cfb715f9beb21f0912bc6
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode80.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a11905f59ffd0b97b12f49f7b9fc72a08f69c634b147fb58487658fffbde98ea
+size 177519
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode81.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode81.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b399359cea3ccecfd5bd030ace1868faa4d4227d
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode81.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e136204985c934ffb4f74c746ab66f1a535aaacad159fbffa78a9ce505c8555
+size 167773
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode82.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode82.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..86ada9e000da6a8e028c55f08e3487c2af8b8fca
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode82.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a8f66672ea85aaa5c8401265233bee1841f04759aa130544b84002d44d08de7
+size 157657
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode83.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode83.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..2b8c9d55f357a5cbb74a73bd15337df67528d718
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode83.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae42c79990ec95ea0b850352d840232ea2d0eebc9d00f07eb5227960d2077af9
+size 153575
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode84.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode84.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..907bf65f0d4655974a4b007b7beea24be2771a4b
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode84.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5d15535e7800e985553fdc685d62ea601404ea3506ec5028b957ca26ca35f49
+size 150119
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode85.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode85.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..09ab2ef63dd4da81fbd10a226f7b2282347e3fc7
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode85.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89d501900a0c67c47e1944fe25bc4cadff6d5a4a88205d5e9575c540ae474821
+size 159289
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode86.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode86.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7c7904908dc3b22063126266b1d96181d75514d1
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode86.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eabe4d4e0d6101166088d299e88a410bf6113cdb3d1d4df629eeee4ff7ff462f
+size 161291
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode87.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode87.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..5c5556f04929ad2a51ea1ac478a956adec706098
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode87.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8962e2daaea972a0f21f342136d4bdcc7db2bb52257810e3a084a82253a34237
+size 164425
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode88.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode88.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..10c2255f011923a64b19db726fb9c7f24bdd0afd
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode88.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:917627b9ccdcb3389a72aeb132f85649d908d9da6c6558c52a7e14001c12c829
+size 199473
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode89.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode89.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..a0b07ecf977cbc010168805229d6ed46fa6848da
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode89.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63bfd9b14d471963ced3b7c758c3866ca2c674bfd1b1dcc28b51a29772d7b0db
+size 156297
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode9.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode9.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..7d8915de9b2cf173c68bdeea84c94655e3f1a62e
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode9.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16173dd3d3cd445c03e3a60a7e062776e1c80079efaafd0ea2eec73498d83fb7
+size 160009
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode90.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode90.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..daa02223a389871f00905b1ba7e9dbadc86fb163
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode90.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa8516b4a0397d8641a4e96b754791efb13e49b1d57fb6709179f502b364e217
+size 167979
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode91.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode91.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..a5391adc1071f6342c41a918ec5bf3b0d970a42c
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode91.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17681c0f4cf69b1fb5ca7da71d833a3b9be4899af1ddaf94fb1b550b3d6b6f5a
+size 155433
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode92.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode92.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b94b4d6c3f8b1e68e078cc124e7b2633027e8c4c
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode92.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f89f19e5002ea896c22c3832574b18f22b178a22e8550d76091677ae4c1eba85
+size 156299
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode93.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode93.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..95956fa661ab0f8609f6d3cb7b8ffd5c3383764d
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode93.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9880149eec3b2f8d0c7775650af935ac1eaea198e33d57cdfb25146b7ca4c2e
+size 164123
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode94.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode94.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..c4d96d67ff79e63d66a08205ee9cf2178786edc7
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode94.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:badc9cb121d554f357803275d1639c082dfac5a89c38430e4fca9b056e909f2f
+size 171675
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode95.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode95.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..66f12bd9952297cc2389c0be946d10f27112437a
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode95.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5c1ed8e61e34451e912426239e5f1b7a31b2b6424c69d9f09509b1c2b6c260b
+size 154585
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode96.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode96.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..b106b810a395fda16abaf797c08d12bd91333d6b
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode96.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:314732a2b37e9f834f9e1d0d3118b0e0f5b01ed1726f3cd1125e00cc281ee136
+size 156107
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode97.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode97.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..737d5a025dda0314ee05688bd9db3df1a6d4294a
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode97.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:056b60c529e6dc4358ac34dca9fa962e8f1e716359fc4d928dc4f6b56d207624
+size 163547
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode98.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode98.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..8ce23a78b57d3e7bbbb7e52359e49482266ea50b
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode98.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:022ee89e6faa5cf346857fe3e2cce21831b0c9210f3bdd44802467fb82854220
+size 149689
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode99.pkl b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode99.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..5f0eef9b2b394a1788cb29ea483d752354647384
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/_traj_data/episode99.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dbf11607f6bc35ec1ec3ffd90a5ee3a4c5f01ebf4a0bed7baeb79830b095b49
+size 155689
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode0.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode0.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..51130e5f099a02c14655ac5b93083a74e8e53a9e
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode0.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e2820f75fd102c618c9cc5d5f679472be379f8ef97241504dce25f5727ca8d4
+size 18730565
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode1.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode1.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..50c3c7c1da2d0609c479eb01a1e0924e051e4e98
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode1.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fae924ff5860ced7aa471db3b292f1e414a58fde1fc8627ff5abbcc170a55d40
+size 17588764
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode10.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode10.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..87a12d024327e7fbe33d9cf15041d865c6423ba4
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode10.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46e4e7c4d4c8fa4bae17e0b8114317a6d525f1ab801a9d41d62088c82289fae0
+size 16808776
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode11.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode11.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9eaeff3161c433f4fe3ce75dee85db3f56a6c651
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode11.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:963b23105a475471a4b6ae8fc7d53a3e6d804f3094a7badbfa33cd8c78d6515d
+size 18987943
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode12.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode12.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..bee45ea06ffb2dbbce8508eb1eecaf2317a5375c
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode12.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2dac3ce7c5e7186074c5676df175badd12c520887e3b83a4928940f1bfa144c
+size 17135736
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode13.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode13.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5ddda7123d0a1662c1891501bc6b59242099d169
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode13.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51f68ca2343daf1ee98cc889e6a75dcb5dddd3cdd7eadc685c36a3ae1fae6280
+size 17158876
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode14.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode14.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ba2a095c776bbe9e30380bd54841280f209f1fbc
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode14.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4eff63fd35b68ae1766ff8062b06b722462b55006887dfe389274edcf2378ae2
+size 18873610
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode15.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode15.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..75c9ec1fb1140ba58c4202027cec64102e1f889f
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode15.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5bb050f5567fe05c6866ff898cc8283eb02b66507f44e9ed3eca18d3e122078
+size 19072627
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode16.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode16.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..146bb4638c54ee1bf0fc07a58cf9c4dfe66e7d63
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode16.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43e60a1f9098aadcbf2868311ee57b769a23b0511b126a70dcd0de4ae1447d38
+size 17972040
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode17.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode17.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b81057673b99e1369a40429b23687ca2d0aba25c
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode17.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75cd201ee24ef99b7a279f24d098c6b353845703b9eb27f059aeac1d868ce685
+size 16733284
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode18.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode18.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..602c310b8cb4a8b0f2815c90b41ca987b4ff933f
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode18.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab5ff6b8677e7369aa7b2d77b52b9121de4c56db3767780a116f0c7fa2a1e562
+size 18589276
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode19.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode19.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ac332d91ae1d9525f2d9f6bd353125ab94844fc1
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode19.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8983e3f9a86405c1149a422b8aec6b3ed97c77875f23133f6cedd4482602840e
+size 17757430
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode2.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode2.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8498ab2588233cfe4429c7130ca4854ada6b04f5
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode2.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:800799618f87bda8eefaad4882abbf4d52e3fc340cfb0da7519857d703805fe0
+size 17823976
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode20.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode20.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..06698f30da5e03a6c88f2429106626293056be37
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode20.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a671436a429e1f4d30f31e8e0cac9fa0b7f512e7cecffcdc50539373bcd594fe
+size 19632860
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode21.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode21.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f8b79f529da5e24193a5e30de517991a572919cc
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode21.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52669ad3cdc87eafe16fe7b9de4fb73e88cf8ef0d333c07e746fa22487265526
+size 17733420
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode22.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode22.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0f29dd5b5c384ad88a9de25cd64a8e37580cf057
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode22.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a21232486c87dbe68546757c8eb31d3f83abbe34c7cb4532183337f960f979e
+size 17239888
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode23.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode23.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..3e84ac6f812063b1a9d7a7c932495a5e7025c4d2
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode23.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94a73b2d72f3895ca4f45842a9b645ff0e63d2957fb8acc063c9049d4213cc35
+size 17624188
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode24.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode24.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1e2a6d1ddbe52b4b45ebf4359848d0206eeb910d
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode24.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a267f3d705772f6cea44fb71d8c190e3819bf4262dabd53bbe5a2bb752f75af0
+size 16641274
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode25.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode25.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2206f1827b7295ec84f59443ae66aca098d56ce9
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode25.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e15ec2b317b146e0cd014c263fbba6921594d1b5ae7b53bc6c527e9ed2e1a3ad
+size 18349680
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode26.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode26.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..884360f82e23d80c3d802aea1f0bf0f8d85db589
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode26.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ade6505bda068d4d01ae93bbcaedee82c96f733e3dcad4f4494ebb2823cb508
+size 16680532
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode27.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode27.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..25638738a7c0e9afff9d42a1c7e17b8e8fe4bcd0
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode27.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:306cffa6f7ccbdcb53df7fde0ba7656086cc99435f9e154f3bdbbc458438a48c
+size 19308652
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode28.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode28.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..833270572e93368abdccbb1e0ef760f347a5c532
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode28.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60c7761ef57bd48ab7aff2952278465ce9459aa84b5592c535d56fca84dc88d7
+size 18841800
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode29.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode29.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5b44d11213bd90fcdc74ffe433dd95c11a6bb571
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode29.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cb1c00ba4d7e6cbc2338b6f3061047a6f1463ac179a22587c5f88bf2f9e7d7f
+size 18781837
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode3.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode3.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0707200925d04f5461b960b34df0d2b5605ee609
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode3.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30b156ad3784411785d74dfc7cdae860db53a5b7ac9f42f380f14c01fcf8c80c
+size 16613632
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode30.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode30.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..4963321304fc304fe55170bb91f0470fc7f9c240
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode30.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3466faf2c7f82c27ee2be48db3a99c4c61b9af36f81522d25f61a459b20ed8e
+size 20042953
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode31.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode31.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..045151d585dfd7732f0ca3e67673be96066b291b
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode31.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10999c478456ab38ab965982c8779b91dd632301de1345fcf0efd7115ab41806
+size 17656756
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode32.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode32.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..daf3827acafb1a6f20d3eb938842fc323180016f
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode32.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7c01793146f94852a69b93d1bf6ff9efa32deabf099d60f0c4e0ee6b16b3b2e
+size 18800536
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode33.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode33.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..39fbbd8e196bd6b0cbaa4c1e84fef070a28d64a9
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode33.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09a98fa032f09b8d9f4eea4e6f1c253256d3a74c7f11852f85360f994eff2964
+size 16937133
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode34.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode34.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..eec773c0489b6a3e9db450fbeff85b493c9430f6
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode34.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d343b701e94df1ed299d51ae0cac96ade89b75f1867458abea352ed6312e58c
+size 19216920
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode35.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode35.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c94a7a0d0c8f2bc599bfbf2d854aa47eb1660a3a
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode35.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ec0f1e775a426b3ccc47661983c291d74cf195aa1ce62c59e815bccfc6d2974
+size 18294614
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode36.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode36.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2cc0ae4e5ded931dfa00e1e0f1284e148f72ec5c
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode36.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5347fbd4927a71e3bbb15052587cbe28d2e07e210a265de265342d506715383
+size 18325276
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode37.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode37.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0ea36a72b5f21cf4a836bdf0606ff759b65fae11
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode37.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d274fc47a816d34bf75d73fef53213a32fe68fee84c6c52c4d747869bd7d01e4
+size 17862681
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode38.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode38.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..69a33bdb0b805f0cb79996916ef2b102acdc5b15
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode38.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:836287bc26652094ffca6c2c3adae331c155a9ec8c842bc425d8d6d532fdefe1
+size 18050938
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode39.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode39.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8f9932dc7f2ee95d36bd85d371ae8803b136e904
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode39.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21b7f6cd6d69d1e939962d02e6b737dc0bbb47c3d9a523c458819e8f51d20ab7
+size 16998256
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode4.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode4.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1aad0237aaf86ffcf865c1199c7dab4b2db224f3
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode4.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c31c4016091b637bc28ec2a4a30defd0237f151477b6ab84d8a7e8518a09455f
+size 16827720
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode40.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode40.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..cd8e6b7e485feaf62cfb3ef3906aed4a2b496249
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode40.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83e636cadf70fc95fdc32199f6a71a6e8117f0e6c13684b7462ab9824361495d
+size 19334938
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode41.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode41.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..45b2b49f831f6c5a1dbf1c4cfce77e5ab77d125f
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode41.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b0c48b922270d5d24d40e3a0c00c64ccefba3c1558f3489775f5c5afc2b21b8
+size 19015756
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode42.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode42.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f55cd623907d7825ed4291597cdd7fbf1bb270f2
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode42.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d4724404f63ee349a8d34a1e6d3b0be79bd578445221174acb4f8fa036f6d93
+size 19821841
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode43.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode43.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..28b7fa9626b5295673491720d6693c709410f904
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode43.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adcfc1be7764e1d703227d1b939b9d997ffdfe291a808e9d5cb99f7723ec6b89
+size 18558046
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode44.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode44.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..335017b43c355b5086073843dbfb11a54422f5bf
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode44.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:355d6d22004de9008211d71cee18b7c7160d380266b55591541d2d6ce69bbc34
+size 18233062
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode45.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode45.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c207c39a92afe1f11275cc657a02df54ab775d0a
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode45.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:232f2045b0d8e5852863a007c9cc60e19c7b479a35c2e495c514d4887b8ddff0
+size 17603288
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode46.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode46.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ffa7d019eb8657e8486585118cda38d5838c6c3a
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode46.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95733d9a66fd4a12f28340ab3c6887255d09656be0fe267cd236d98183ec772d
+size 16547885
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode47.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode47.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c7666d1ab17476c1a06de4af49fd9050c91490a4
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode47.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f257fe397bf66ab101891f0bd68249f06b2b4b3e18d230b712720350daeb28f
+size 18208137
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode48.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode48.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2ebd307bbe5e9b032df8cdac848c6ba7b2a0f7f3
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode48.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6bbd9490d96fa81bfb4c061a57881c9f44d139d5df5cffc57edd24d823038c9
+size 16650724
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode49.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode49.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..17a0663175778ba66dd9d577df734ed8919fbc31
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode49.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63b0c7d86596d1955e8b48e80282630171f6cf2198fd5f88567145e7f7b538b0
+size 19920718
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode5.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode5.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..03fe8bb89cda829a7697358131090a404ef14954
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode5.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01c29b8ee659d04f50a2996d403d5fc49ba5278a93b92d52718059521895355f
+size 17695408
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode50.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode50.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..987ed17d8f8c4a12a2265380371837c75042cb46
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode50.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16c7775b930a9e85edd015c97b2d17e76ef502a68b3eef7327114d6568da4fc7
+size 17296320
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode51.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode51.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..d303d65fda1d77dd88de3bb1442184f2ce32bbaa
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode51.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ac00fa4c30d295d39eaf252760bf73a6c7f83d9c7fd4e126e7a5ee62a2dd076
+size 16350814
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode52.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode52.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7c52b9ed684ed6e133293d60fe55d666d89c29dc
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode52.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:761060ea9d7ba814ac384ee6de33509b86b77f8049b1721eafbf54de88b617a6
+size 15913670
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode53.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode53.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ab656280378f6de613974aace4bd32c70900b207
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode53.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bbd7f5169a31d3a71eee82c6b347434cfcb52735e2cf1673b409d4f89f17600
+size 17708619
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode54.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode54.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..406b3084fe99531a143bd322808c97d06cd88d55
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode54.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf8fc287216465ad36b793251186bff7deb825d3ec7d38a20516e8c6ffdcf6c0
+size 18819196
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode55.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode55.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..62f17c1a846ec72282380293db71d7f7161a2d58
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode55.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:695fdeb9e5869722c8832c1b415fd9be7a7ca0d889331c74692275ed7340bfbf
+size 25467354
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode56.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode56.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..09ffcd7a567a62bdcb3b260c1292c3ec50f43693
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode56.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54234f67045d7e41a3768ed062c1c3dcd01a7bfb0ca62828681b50ee25027ffe
+size 19958173
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode57.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode57.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..cef2a7663f544a4c1852bace1e291e7641e59199
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode57.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd68a341099530a5fc4eea34a123ab3c8db4c7e13e970fd2078d55f3e6bf097b
+size 18387508
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode58.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode58.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5f77d5fb28294b43527c3ce6fd899648865b0178
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode58.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e11a4d9ca1db4c90af5bd197aa05eaa3c462043d24008385099a4da3379b2e3
+size 18367810
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode59.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode59.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5b091c3b10dfa22bb1cb1622db320d38fb3bb182
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode59.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a5248a5a7963ea812adaab51e3da332b186ce1ea7584d3d087344bc71b7bad2
+size 18018198
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode6.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..23f325950b3a2e0c03a63b71e0a28374f8ed7581
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44ac9c2bb073967afc5d0479ee566c4c79fe34f679069e0c67db76aad295cb90
+size 18287568
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode60.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode60.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e38d1f7beb4cfb1c7756343f4b5908572a50aa6b
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode60.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45c3d8f46dad32ee2d86ccf3d44dda1abdf08b5ad240fb093f5419aeca9b3f4a
+size 17114190
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode61.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode61.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a1fbda700f8c4178920b27b18d71377d9d1535a7
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode61.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33a9f7b12f6c359eb60d5772ee7ffeb2e878b6b9db670dc3e96e4f0f476b978c
+size 18659650
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode62.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode62.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a94462327691051317392103e0b3ae9e837ffa8c
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode62.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08be259a1c825d2ea3f1dba7e88c8a74db7f39b0f1db83038d7e10295a321f9f
+size 18659680
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode63.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode63.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..65ed146941624ee65e19a9c78aeaa97e10a3fd57
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode63.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea4b23bd6b02777d960834b078ea71d57c40a855744d8b04907c7e2f7f4d96ee
+size 20609821
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode64.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode64.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5251d79f4f2be453a6de8c29f49ba4c6f308d833
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode64.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2313e83eee30264a0ac4daa9dfae166324dada4198678b4bc84e4684fabe94ca
+size 17503147
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode65.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode65.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c860d201d14d7bd98a49f7f36c9e8ce3b3e8d9e7
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode65.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32c97b07e01c3ec15b6955c2907992b0c191444fa6ab51b846a91c233ad03321
+size 16720114
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode66.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode66.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..998a911ab266bf3f914343617d7f223eef99bd89
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode66.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccd6f9e03819a0d0b05675ee266ea01053c77ee9d22c9c8cbbd9f06c857cb86e
+size 18699797
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode67.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode67.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..908488f883c5fa5f5f2d3890cf7b5dd2e9fc8ac7
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode67.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6323f0d7c333305bdef3e05b33821f4c063032df75f2bc3b221fd16a5a2fd129
+size 17763836
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode68.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode68.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..61194afb5e407c5e618ad908ae6a4a45ae66bda4
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode68.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:350d11803964a2b199cff27199c257a17cca5255f86140c977e0b8b5eb909cb0
+size 18441480
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode69.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode69.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..59bbeb3da07b4247de088173aab4ba05997f834e
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode69.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5b1b012ce99defd22e3e0e8b34018c6e11290484fce3bfd18e8dc7d1862ddf7
+size 19867748
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode7.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..e6f752cb1a897904fcee71d03430a11bde7eca4c
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6db3bbb809cffa06429abcaa9f2fa57457d6572a170af2e6740b5a8afc5de5d2
+size 18495209
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode70.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode70.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..cc26dda5063add69ccb44a77268e90d28b692961
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode70.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:856d35382defb3b7d66e2c26e1590b4e74055f71818de9580c7d0d30ddb03504
+size 16928114
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode71.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode71.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..01595a28c4f3a453d4b180989549704db1cf1086
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode71.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae08505c015d824efa8c4e5f9de55073e9874c61328f9865ba933daf49f76b75
+size 17305704
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode72.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode72.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..38352442b53e61bd1e909397b7c21f9a0db4b8fc
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode72.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6b192ff177d9c00b3931ba20b32ae162e47526ac4618948ba880e0490d8d908
+size 20410610
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode73.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode73.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..34a62c68b11ee205fef998927e9520b1c691a343
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode73.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62edcdd15353f83cd63714209fb4093b2d49ce40ae8bfee1a1b19c3df480573c
+size 19665777
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode74.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode74.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5a5879014bef96df38425f190aefcafdea98c82a
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode74.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c9d89eda9dd03e7b02675ec0bca5f2ae3d898c1047ae051cb3ba2ec45bc4950
+size 19821861
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode75.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode75.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..724a3e54a06da03ba1f5d485c0999a5f5e721778
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode75.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:701073a209e06c2a029936344c9041a4da1046caa6e1c4ece88d326287d8181f
+size 17814040
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode76.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode76.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..6dff244c96ceb94d92c784c685530dfc816b59ed
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode76.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1675c261b622ffc425a9c6ec1b249980a924b4d99bdb28ba1799a9abfcf80a10
+size 19642321
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode77.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode77.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..59fbaff04802575698d0cae4b67638d7b6ce9f33
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode77.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f57126563823e82c8923be43944dac363452e8c695eb3efd01646f2b2618f8f
+size 16684274
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode78.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode78.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..c6f465e89fe9a29e7b641e27bac88a33f0a1aa57
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode78.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f1bbd57267593e2ff7b0ce8215f2584a47e128e42f37ab61d260937a0ef72c3
+size 21539434
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode79.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode79.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b3969b3cffb3b604e6072bb2b9d9c87504a1f0fb
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode79.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89da2c456d82e022b84e90e46444b5620d6e66633c0525887f345dc489e71d2b
+size 18265045
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode8.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5342f345b6372bfc78601daa5dbe37961a3b9109
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a926414d6de7fb4b26eca1b1913a2a1e81347a5e6d1316bad9837e39e8493e6
+size 18716968
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode80.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode80.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..fa4495fbf347e533c324c29281933a97827903ae
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode80.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f33a408cf1acba7d50969fc9670d34a7218288b8d86766ec38e3ae9a8039ceb9
+size 19193120
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode81.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode81.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..fbcd2afd51ffbd43f354e826dc22bcaa7445b6dc
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode81.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91d88a1cdbd090b2fbc85c9f81ddf2750a989a41cd3dd468069f00d7c8782bdf
+size 19047810
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode82.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode82.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..da72afe33e32992dd6e593c0b24aa13852f5f60e
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode82.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:599f224f78d95b2a81740bcabfeffb9ff2c5bacf61d16ee8680e164bc532d6fb
+size 17947594
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode83.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode83.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..7eede3f41a21fef1fa97d3056b691d5b19d3d315
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode83.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaec50474b90a27bb7d3bfbc6fb463b3f1aaebaade1f0adb38fcca0599605eb7
+size 18748397
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode84.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode84.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..9bb3b07d7fbfa4880ec79a24b1868c4dfcdcd694
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode84.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d2c0bcb7cea13ff4c366c1f7c987cbf4b1659e7982be68634442e1b6cf88ac4
+size 16846920
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode85.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode85.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..2d485abfc36d6a720ac3d3203069272c5bb3d265
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode85.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50e6b3521eeb9d2476ca40116c675eb8c3cb699a7cd72c412ee064054222934c
+size 17453236
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode86.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode86.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..bcb32f075c021fbef346e6b42fa68d470e86eeb5
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode86.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c1affd56825bab6d6aaf915ed8e38ec768fb9f2c663b8c39ac8b9a59ae45268
+size 18080156
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode87.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode87.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..cae4655263186e517e4c5ed7e7359c7b1d2b53fb
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode87.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22ef1750c3caace6511dc989db97a7f3027cc642756059fe2da31aa521a9ef0a
+size 18418744
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode88.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode88.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..182ab6a7aece92d9e7d1b28a1343d58772dccbdc
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode88.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dce3f7e1fb85a987810cb01256bb7117e2f67f70bf0e92470abed9bffe961b52
+size 21067642
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode89.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode89.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..0c2e0bc581f193ca2393437accdcfe7a094fb136
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode89.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9821fe94c1f9efdee1b80baee627179e7d917dfccc6089dabefc525f15b4428c
+size 17912743
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode9.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ca18fd4fb6713ea8fcaec5fd91cac32f42f02b4c
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5e1f6a1081beea078c7a7162587c5e292dbf5626bc9d3bf6314a8f1418e1bb4
+size 18169708
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode90.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode90.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..61cf4cd2f0198c63dc0d31adf6b20be33ddffb28
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode90.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35edd78f9a7241104e2daec2a8dbc3210065959311ed1069c0154dd3d66f66ef
+size 19607704
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode91.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode91.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..ab497a84dca6027f3adc53ca3ed4f2b6a1fc0235
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode91.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bde6c422e8601ff64a491a422e6654acd2bdafdb2db972f5e1e58fd7e430bc68
+size 17067645
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode92.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode92.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1c1cce4931c753bcb4e1effcf86c9993729c559f
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode92.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:196de95af8603eab070ddd1c284224a106febe80fa3ca0f8f1c3b21d94a1f344
+size 16950344
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode93.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode93.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b8102f11f6e6d36c27ea070bc7d701c64062a315
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode93.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e52ab8949a00e5f543efc16339bc9e91666967ef7a3e92da7403b5863a057282
+size 19629490
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode94.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode94.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..8a40ed738a7ef6fc203ff17256d4c0f0fc525e59
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode94.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f86c04c251d0a2df0ccc153057d332d307212033d2dd508d29d4c8b9b6d1460e
+size 20202752
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode95.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode95.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..5916a1815fa6220b9421c5f56109f6f6c059f9e8
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode95.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b6656fe231f75fba9f6b6ed99d6a6c78ad7d024441e7533a800c42de75e074b
+size 16287227
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode96.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode96.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..388b9ddddd8ecd446ab04381bb930a47607274a0
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode96.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7522e4419b93eb0f9763861b291a6454910638311d3e6681453cef71f514bb93
+size 16929800
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode97.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode97.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..f6fbea297227d498cc672a9fc781ef2b4275c1eb
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode97.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:736ee6762502b1b5dff219babc6a99f181af56114b6458c4313d0c8a85b42d7d
+size 18557719
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode98.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode98.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..160c2899c49d00bb1a004da6323f4b6aa91fec36
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode98.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82905f2a88fe4066f8e5d0fc4a4c3404b742e9c924a95b941ffad70d0a00fec3
+size 17934627
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/data/episode99.hdf5 b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode99.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..edbe37f332825322fa11c86e5f017dff39610197
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/data/episode99.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0194bf95d0127f684ab2a5366e487b7ea69306e369ef588eb4bd262719938272
+size 17301104
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode0.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..42f9f9d057e3272602d7731e4447e4d778bf558d
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm, take the cup with light blue color, avoid <the medium-sized white plastic shampoo> on the way, and set on <the round coaster with light streaks>.",
+    "Pick up the blue rounded-bottom cup, avoid the plastic shampoo with orange label along the way, and place the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Move the cylindrical light blue cup onto the wooden coaster while avoiding the blue top shampoo bottle, then let go of the cylindrical light blue cup.",
+    "Pick up the plastic cup for drinks, keep its path away from <the plastic shampoo with orange label>, and set the plastic cup for drinks on <the smooth round palm-sized coaster>.",
+    "Use an arm: pick the medium-sized plastic blue cup up, skirt <the shampoo bottle with blue cap>, then place the medium-sized plastic blue cup onto <the coaster with circular shape>.",
+    "Lift the medium blue cylindrical cup, go around the white shampoo bottle, and position the medium blue cylindrical cup squarely on the coaster with circular shape.",
+    "Using an arm, move the plastic cup for drinks to <the smooth round palm-sized coaster> while avoiding <the shampoo bottle with blue cap>, then release the plastic cup for drinks.",
+    "Use an arm to move the smooth blue drinking cup around the shampoo bottle with blue cap and rest the smooth blue drinking cup on the coaster with circular shape.",
+    "Use an arm: grab the smooth blue cup for liquids, avoid the white and blue shampoo container on the way, then set the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Move the cup for holding liquids to the round coaster while avoiding the curved shampoo bottle, then place the cup for holding liquids on the round coaster.",
+    "Using an arm, carry the cup with smooth plastic surface around the plastic shampoo with orange label and place the cup with smooth plastic surface onto the wooden coaster.",
+    "Lift the cup for holding liquids, route it away from the plastic shampoo with orange label, then put the cup for holding liquids squarely on the flat surface gray wooden coaster.",
+    "Move the blue rounded-bottom cup onto <the smooth round palm-sized coaster> and ensure the path stays away from <the medium-sized white plastic shampoo>.",
+    "Take the cup for holding liquids, keep its path away from the bottle with smooth surface, and place the cup for holding liquids on the light gray round grainy coaster.",
+    "Guide the smooth blue cup for liquids with the arm around <the bottle with hexagonal blue cap> and onto <the round coaster with light streaks>.",
+    "With an arm, lift the cup for holding liquids, avoid <the plastic shampoo with orange label> on the way, and drop the cup for holding liquids on <the light gray streaked wooden coaster>.",
+    "Lift the plastic cup for drinks, guide it past the plastic shampoo bottle, and rest the plastic cup for drinks on the flat round wooden coaster.",
+    "Use an arm, pick the light blue plastic cup up, pass around the shampoo bottle with blue cap, then place the light blue plastic cup on the light gray round grainy coaster.",
+    "Move the medium blue cylindrical cup to the smooth round palm-sized coaster without crossing the medium-sized white plastic shampoo, then release the medium blue cylindrical cup.",
+    "Slide the cup with light blue color toward the round coaster, detouring around the shampoo bottle with blue cap, then set the cup with light blue color down.",
+    "Use an arm to move the cup with light blue color toward the coaster with circular shape, keeping the cup with light blue color clear of the bottle with hexagonal blue cap.",
+    "Use an arm: take the blue rounded-bottom cup, avoid the shampoo bottle with blue cap during the move, and drop it on the grainy texture coaster.",
+    "Move the cup with smooth plastic surface to <the small coaster with grain texture> while keeping the cup with smooth plastic surface away from <the handheld shampoo container>, then release.",
+    "Use an arm, keep the blue rounded-bottom cup from the plastic shampoo bottle, and lower the blue rounded-bottom cup onto the light gray streaked wooden coaster.",
+    "Using an arm, grasp the light blue plastic cup, skirt the medium-sized white plastic shampoo, and place the light blue plastic cup atop the round coaster.",
+    "Pick up the light blue plastic cup, route it away from the white and blue shampoo container, then set the light blue plastic cup on the flat round wooden coaster.",
+    "Use an arm: grasp the plastic cup for drinks, avoid <the white shampoo bottle>, and place the plastic cup for drinks on <the wooden coaster>.",
+    "Arm-lift the cup with light blue color, swing around <the blue top shampoo bottle>, then place the cup with light blue color onto <the grainy texture coaster>.",
+    "With an arm, lift the plastic cup for drinks, route past <the curved shampoo bottle>, and drop the plastic cup for drinks onto <the light gray round grainy coaster>.",
+    "Move the light blue plastic cup toward the round coaster with light streaks without passing near the curved shampoo bottle, then set it down.",
+    "Slide the cup for holding liquids over to <the coaster made of smooth wood> without passing near <the medium-sized white plastic shampoo>.",
+    "Use the arm to lift the blue rounded-bottom cup, pass the bottle with smooth surface, and place the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Take the medium blue cylindrical cup in the arm, route around <the white and blue shampoo container>, and set it on <the flat round wooden coaster>.",
+    "Use an arm to bring the cup with smooth plastic surface to the wooden coaster, keeping the cup with smooth plastic surface clear of the blue top shampoo bottle.",
+    "Use the arm to carry the medium-sized plastic blue cup around the bottle with smooth surface, then rest the medium-sized plastic blue cup on the light gray streaked wooden coaster.",
+    "Lift the cup with light blue color, guide it around <the plastic shampoo bottle>, then put the cup with light blue color onto <the grainy texture coaster>.",
+    "Use an arm to lift the smooth blue drinking cup, keep distance from <the medium-sized white plastic shampoo>, and set the smooth blue drinking cup on <the light gray round grainy coaster>.",
+    "Move the cylindrical light blue cup onto the coaster made of smooth wood while avoiding the plastic shampoo bottle, then let go of the cylindrical light blue cup.",
+    "Secure the smooth blue cup for liquids, keep its path away from the white shampoo bottle, and set the smooth blue cup for liquids on the light gray streaked wooden coaster.",
+    "With an arm, take the cup with smooth plastic surface, avoid the plastic shampoo with orange label, and put the cup with smooth plastic surface on the wooden coaster.",
+    "Lift the medium-sized plastic blue cup, keep clear of the blue top shampoo bottle, and put the medium-sized plastic blue cup down on the flat surface gray wooden coaster.",
+    "Use an arm, take the cup for holding liquids past the blue top shampoo bottle without nearing it, and rest the cup for holding liquids on the coaster with circular shape.",
+    "Lift the blue rounded-bottom cup, pass by the plastic shampoo with orange label without contact, then place the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Lift the blue rounded-bottom cup, steer away from <the shampoo bottle with blue cap>, then place the blue rounded-bottom cup on <the coaster made of smooth wood>.",
+    "Using an arm, pick the rounded base blue cup up, skirt the bottle with smooth surface, and place the rounded base blue cup on the round coaster.",
+    "Pick up the medium blue cylindrical cup, guide it past the shampoo bottle with blue cap, and drop the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Using an arm, carry the medium-sized plastic blue cup past <the plastic shampoo with orange label> and place the medium-sized plastic blue cup squarely on <the small coaster with grain texture>.",
+    "Carry the cup for holding liquids toward the flat surface gray wooden coaster, keeping the cup for holding liquids away from the bottle with hexagonal blue cap, then set down.",
+    "With an arm, pick the smooth blue drinking cup up, bypass <the handheld shampoo container>, then place the smooth blue drinking cup on <the smooth round palm-sized coaster>.",
+    "Carry the medium-sized plastic blue cup toward <the coaster made of smooth wood>, skirting <the bottle with smooth surface>, and set the medium-sized plastic blue cup down.",
+    "Take the cup for holding liquids, guide it away from <the white and blue shampoo container>, and place the cup for holding liquids squarely on <the wooden coaster>.",
+    "Lift the cup with light blue color, carry it around the white shampoo bottle, and place the cup with light blue color squarely on the small coaster with grain texture.",
+    "Grab the light blue plastic cup, route around the white and blue shampoo container, then lower the light blue plastic cup onto the grainy texture coaster.",
+    "Using an arm, pick the light blue plastic cup up, skirt the plastic shampoo bottle, and place the light blue plastic cup on the light gray round grainy coaster.",
+    "Take the rounded base blue cup to the light gray round grainy coaster while skirting the handheld shampoo container, then release the rounded base blue cup on the light gray round grainy coaster.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the shampoo bottle with blue cap, and place the cup with smooth plastic surface on the light gray streaked wooden coaster.",
+    "Move the light blue plastic cup to <the wooden coaster> while keeping its path away from <the white and blue shampoo container>.",
+    "Lift the smooth blue drinking cup, pass beside <the bottle with hexagonal blue cap> without contact, then place the smooth blue drinking cup onto <the smooth round palm-sized coaster>.",
+    "Carry the medium-sized plastic blue cup toward <the wooden coaster>, keeping the path clear of <the handheld shampoo container>, then set down.",
+    "Use an arm to move the cylindrical light blue cup to the coaster with circular shape, keeping the cylindrical light blue cup from bumping the handheld shampoo container.",
+    "Use an arm to lift the cup for holding liquids, arc around the blue top shampoo bottle, and place the cup for holding liquids atop the coaster made of smooth wood.",
+    "Take the cup with smooth plastic surface, swing wide of the bottle with hexagonal blue cap, then rest the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Lift the cup for holding liquids, arc around the plastic shampoo with orange label, and place the cup for holding liquids squarely on the flat surface gray wooden coaster.",
+    "With an arm, move the cup with smooth plastic surface past the white and blue shampoo container and place the cup with smooth plastic surface on the small coaster with grain texture.",
+    "Secure the cup with light blue color, move it around the bottle with smooth surface, and place the cup with light blue color squarely on the small coaster with grain texture.",
+    "Use an arm to grab the cylindrical light blue cup, avoid the shampoo bottle with curved sides, and set the cylindrical light blue cup down on the smooth round palm-sized coaster.",
+    "With an arm, lift the cylindrical light blue cup, keep it away from the curved shampoo bottle, and drop it onto the small coaster with grain texture.",
+    "Grab the cylindrical light blue cup, swing it away from <the plastic shampoo bottle>, and place the cylindrical light blue cup on <the light gray round grainy coaster>.",
+    "With an arm, bring the blue rounded-bottom cup over to <the light gray streaked wooden coaster> and keep clear of <the curved shampoo bottle>.",
+    "Pick up the smooth blue drinking cup, keep clear of <the medium-sized white plastic shampoo>, and drop the smooth blue drinking cup onto <the flat round wooden coaster>.",
+    "Take the cup with light blue color, keep its path away from the medium-sized white plastic shampoo, and drop the cup with light blue color on the wooden coaster.",
+    "With an arm, lift the cup with light blue color, guide it past the shampoo bottle with curved sides, and put the cup with light blue color on the round coaster.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the plastic shampoo with orange label, and set the cup with smooth plastic surface onto the smooth round palm-sized coaster.",
+    "Grab the light blue plastic cup, guide it away from the curved shampoo bottle, and set the light blue plastic cup neatly on the light gray streaked wooden coaster.",
+    "Use the arm to move the rounded base blue cup past <the bottle with smooth surface> and rest it on <the small coaster with grain texture>.",
+    "Take the cup with light blue color, arc around <the blue top shampoo bottle>, and place the cup with light blue color neatly on <the light gray round grainy coaster>.",
+    "Carry the smooth blue cup for liquids toward <the wooden coaster>, keeping clear of <the bottle with smooth surface>, and set the smooth blue cup for liquids down.",
+    "Take the smooth blue cup for liquids, route it away from the white and blue shampoo container, and set the smooth blue cup for liquids onto the coaster with circular shape.",
+    "Pick the medium blue cylindrical cup up, route it away from the curved shampoo bottle, and drop the medium blue cylindrical cup onto the wooden coaster.",
+    "Use an arm to take the plastic cup for drinks around <the shampoo bottle with blue cap> and place the plastic cup for drinks on <the coaster with circular shape>.",
+    "Use an arm, take the medium-sized plastic blue cup, avoid <the plastic shampoo bottle> on the way, and set on <the round coaster with light streaks>.",
+    "Pick up the blue rounded-bottom cup, avoid the handheld shampoo container along the way, and place the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Move the blue rounded-bottom cup onto the round coaster while avoiding the curved shampoo bottle, then let go of the blue rounded-bottom cup.",
+    "Pick up the plastic cup for drinks, keep its path away from <the blue top shampoo bottle>, and set the plastic cup for drinks on <the coaster with circular shape>.",
+    "Use an arm: pick the smooth blue drinking cup up, skirt <the medium-sized white plastic shampoo>, then place the smooth blue drinking cup onto <the coaster made of smooth wood>.",
+    "Lift the smooth blue drinking cup, go around the shampoo bottle with blue cap, and position the smooth blue drinking cup squarely on the smooth round palm-sized coaster.",
+    "Using an arm, move the light blue plastic cup to <the small coaster with grain texture> while avoiding <the plastic shampoo with orange label>, then release the light blue plastic cup.",
+    "Use an arm to move the plastic cup for drinks around the plastic shampoo bottle and rest the plastic cup for drinks on the small coaster with grain texture.",
+    "Use an arm: grab the cylindrical light blue cup, avoid the shampoo bottle with blue cap on the way, then set the cylindrical light blue cup on the small coaster with grain texture.",
+    "Move the cup for holding liquids to the light gray round grainy coaster while avoiding the handheld shampoo container, then place the cup for holding liquids on the light gray round grainy coaster.",
+    "Using an arm, carry the cup with smooth plastic surface around the plastic shampoo bottle and place the cup with smooth plastic surface onto the flat round wooden coaster.",
+    "Lift the plastic cup for drinks, route it away from the blue top shampoo bottle, then put the plastic cup for drinks squarely on the light gray streaked wooden coaster.",
+    "Move the cup with smooth plastic surface onto <the coaster made of smooth wood> and ensure the path stays away from <the white shampoo bottle>.",
+    "Take the light blue plastic cup, keep its path away from the plastic shampoo bottle, and place the light blue plastic cup on the flat round wooden coaster.",
+    "Guide the cup with light blue color with the arm around <the white and blue shampoo container> and onto <the small coaster with grain texture>.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid <the plastic shampoo with orange label> on the way, and drop the medium-sized plastic blue cup on <the coaster made of smooth wood>.",
+    "Lift the smooth blue cup for liquids, guide it past the shampoo bottle with curved sides, and rest the smooth blue cup for liquids on the round coaster.",
+    "Use an arm, pick the rounded base blue cup up, pass around the bottle with hexagonal blue cap, then place the rounded base blue cup on the round coaster with light streaks.",
+    "Move the cup with smooth plastic surface to the grainy texture coaster without crossing the handheld shampoo container, then release the cup with smooth plastic surface.",
+    "Slide the medium-sized plastic blue cup toward the coaster with circular shape, detouring around the handheld shampoo container, then set the medium-sized plastic blue cup down."
+  ],
+  "unseen": [
+    "Pick up the small smooth cup, keep it clear of <the shampoo container in white and blue>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container in white and blue>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the blue-capped shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container in white and blue>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the blue-capped shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, avoid the blue-capped shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the blue-capped shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the blue-capped shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the white shampoo with orange design, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the white shampoo with orange design>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white shampoo with orange design>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the blue-capped shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the white shampoo with orange design>, then set the blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the white shampoo with orange design>, and set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, steer it around the white shampoo with orange design, then set the blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the blue-capped shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the white shampoo with orange design, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white shampoo with orange design, and place it on the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the blue-capped shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white shampoo with orange design, and set the handheld round blue cup on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo container in white and blue, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the white shampoo with orange design>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the white shampoo with orange design>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the white shampoo with orange design, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo container in white and blue>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the white shampoo with orange design, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container in white and blue>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white shampoo with orange design, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the blue-capped shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo container in white and blue, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo container in white and blue, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, route it around <the white shampoo with orange design>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo container in white and blue>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the white shampoo with orange design, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the white shampoo with orange design>, then set the blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, steer it around the blue-capped shampoo bottle, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container in white and blue>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, guide it around <the white shampoo with orange design>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the blue-capped shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the blue-capped shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the white shampoo with orange design, and set it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the blue-capped shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container in white and blue>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the white shampoo with orange design>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo container in white and blue, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo container in white and blue>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white shampoo with orange design>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the blue-capped shampoo bottle, then set the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the blue-capped shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, guide it around <the white shampoo with orange design>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the white shampoo with orange design, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container in white and blue, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the blue-capped shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the blue-capped shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container in white and blue>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the white shampoo with orange design>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the blue-capped shampoo bottle, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the blue-capped shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container in white and blue>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo container in white and blue, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the white shampoo with orange design>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the shampoo container in white and blue>, and place it on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the blue-capped shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the blue-capped shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the white shampoo with orange design, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the white shampoo with orange design, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the blue-capped shampoo bottle>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the blue-capped shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo container in white and blue, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the blue-capped shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the white shampoo with orange design>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, steer it around the blue-capped shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the blue-capped shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode1.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..3485b55ba5423075f91b0c394105f9a5843c61a3
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the arm to carry the cup with light blue color around the yellow container with green pump, then rest the cup with light blue color on the round coaster.",
+    "With an arm, lift the blue rounded-bottom cup, avoid <the yellow shampoo bottle> on the way, and drop the blue rounded-bottom cup on <the light gray streaked wooden coaster>.",
+    "Use an arm, take the cup with smooth plastic surface past the yellow container with green pump without nearing it, and rest the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "Use an arm to bring the plastic cup for drinks to the coaster with circular shape, keeping the plastic cup for drinks clear of the shampoo bottle with handle slot.",
+    "Grab the cup for holding liquids, route around the bottle with cartoon label, then lower the cup for holding liquids onto the round coaster.",
+    "Pick up the light blue plastic cup, guide it past the medium shampoo bottle with pump, and drop the light blue plastic cup on the light gray round grainy coaster.",
+    "Guide the plastic cup for drinks with the arm around <the shampoo with green dispensing pump> and onto <the smooth round palm-sized coaster>.",
+    "Use an arm: take the smooth blue drinking cup, avoid the bottle with cartoon label during the move, and drop it on the round coaster.",
+    "Move the cup with light blue color toward the round coaster with light streaks without passing near the medium shampoo bottle with pump, then set it down.",
+    "Slide the medium-sized plastic blue cup over to <the grainy texture coaster> without passing near <the medium shampoo bottle with pump>.",
+    "Take the plastic cup for drinks, swing wide of the plastic shampoo bottle with label, then rest the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Lift the blue rounded-bottom cup, steer away from <the shampoo bottle with handle slot>, then place the blue rounded-bottom cup on <the light gray streaked wooden coaster>.",
+    "With an arm, move the cup for holding liquids past the medium shampoo bottle with pump and place the cup for holding liquids on the round coaster with light streaks.",
+    "Use an arm: grasp the smooth blue cup for liquids, avoid <the yellow shampoo with cartoon design>, and place the smooth blue cup for liquids on <the light gray streaked wooden coaster>.",
+    "Move the plastic cup for drinks onto the coaster made of smooth wood while avoiding the yellow shampoo with cartoon design, then let go of the plastic cup for drinks.",
+    "Use an arm, pick the cup with smooth plastic surface up, pass around the bottle with cartoon label, then place the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Lift the cup with light blue color, guide it around <the smooth bottle with green top>, then put the cup with light blue color onto <the flat surface gray wooden coaster>.",
+    "Lift the rounded base blue cup, guide it past the plastic shampoo bottle with label, and rest the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Use an arm: pick the light blue plastic cup up, skirt <the yellow bottle with green top>, then place the light blue plastic cup onto <the small coaster with grain texture>.",
+    "Using an arm, move the medium blue cylindrical cup to <the round coaster with light streaks> while avoiding <the shampoo bottle with handle slot>, then release the medium blue cylindrical cup.",
+    "Pick the cup for holding liquids up, route it away from the bottle with cartoon label, and drop the cup for holding liquids onto the round coaster.",
+    "Lift the rounded base blue cup, arc around the bottle with cartoon label, and place the rounded base blue cup squarely on the flat surface gray wooden coaster.",
+    "Use an arm to lift the cup with light blue color, arc around the plastic shampoo bottle with label, and place the cup with light blue color atop the flat round wooden coaster.",
+    "Take the cup with light blue color, arc around <the hand-sized yellow shampoo bottle>, and place the cup with light blue color neatly on <the smooth round palm-sized coaster>.",
+    "Use an arm to move the plastic cup for drinks to the light gray round grainy coaster, keeping the plastic cup for drinks from bumping the yellow container with green pump.",
+    "Take the cup with smooth plastic surface, keep its path away from the yellow bottle with green top, and drop the cup with smooth plastic surface on the grainy texture coaster.",
+    "Using an arm, grasp the smooth blue cup for liquids, skirt the plastic shampoo bottle with label, and place the smooth blue cup for liquids atop the flat surface gray wooden coaster.",
+    "With an arm, lift the smooth blue drinking cup, keep it away from the plastic shampoo bottle with label, and drop it onto the small coaster with grain texture.",
+    "Lift the cylindrical light blue cup, keep clear of the yellow shampoo bottle, and put the cylindrical light blue cup down on the grainy texture coaster.",
+    "Take the plastic cup for drinks in the arm, route around <the bottle with cartoon label>, and set it on <the coaster with circular shape>.",
+    "Use an arm, take the smooth blue drinking cup, avoid <the yellow shampoo with cartoon design> on the way, and set on <the grainy texture coaster>.",
+    "Move the medium-sized plastic blue cup onto <the coaster made of smooth wood> and ensure the path stays away from <the bottle with cartoon label>.",
+    "Using an arm, carry the cup for holding liquids past <the shampoo with green dispensing pump> and place the cup for holding liquids squarely on <the light gray round grainy coaster>.",
+    "Carry the cylindrical light blue cup toward <the small coaster with grain texture>, keeping the path clear of <the medium shampoo bottle with pump>, then set down.",
+    "Use the arm to move the light blue plastic cup past <the yellow shampoo bottle> and rest it on <the flat round wooden coaster>.",
+    "Lift the plastic cup for drinks, go around the shampoo bottle with handle slot, and position the plastic cup for drinks squarely on the round coaster with light streaks.",
+    "With an arm, bring the light blue plastic cup over to <the round coaster> and keep clear of <the smooth bottle with green top>.",
+    "Move the light blue plastic cup to <the smooth round palm-sized coaster> while keeping the light blue plastic cup away from <the yellow shampoo with cartoon design>, then release.",
+    "Use an arm to move the smooth blue cup for liquids toward the coaster with circular shape, keeping the smooth blue cup for liquids clear of the yellow bottle with green top.",
+    "Pick up the plastic cup for drinks, avoid the hand-sized yellow shampoo bottle along the way, and place the plastic cup for drinks on the small coaster with grain texture.",
+    "Use the arm to lift the medium-sized plastic blue cup, pass the yellow shampoo bottle, and place the medium-sized plastic blue cup on the wooden coaster.",
+    "Carry the smooth blue drinking cup toward the wooden coaster, keeping the smooth blue drinking cup away from the hand-sized yellow shampoo bottle, then set down.",
+    "Use an arm to take the blue rounded-bottom cup around <the shampoo bottle with rounded body> and place the blue rounded-bottom cup on <the flat surface gray wooden coaster>.",
+    "Lift the cup for holding liquids, pass beside <the yellow bottle with green top> without contact, then place the cup for holding liquids onto <the light gray streaked wooden coaster>.",
+    "Carry the blue rounded-bottom cup toward <the wooden coaster>, keeping clear of <the shampoo bottle with rounded body>, and set the blue rounded-bottom cup down.",
+    "Take the cylindrical light blue cup, keep its path away from the yellow shampoo with cartoon design, and place the cylindrical light blue cup on the flat surface gray wooden coaster.",
+    "Use an arm, keep the medium-sized plastic blue cup from the yellow bottle with green top, and lower the medium-sized plastic blue cup onto the round coaster with light streaks.",
+    "With an arm, lift the cylindrical light blue cup, avoid the bottle with cartoon label, and place the cylindrical light blue cup on the round coaster with light streaks.",
+    "Secure the rounded base blue cup, keep its path away from the yellow shampoo bottle, and set the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Take the blue rounded-bottom cup, guide it away from <the hand-sized yellow shampoo bottle>, and place the blue rounded-bottom cup squarely on <the round coaster with light streaks>.",
+    "Pick up the smooth blue cup for liquids, route it away from the yellow bottle with green top, then set the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Use an arm: grab the cup with light blue color, avoid the plastic shampoo bottle with label on the way, then set the cup with light blue color on the coaster with circular shape.",
+    "Move the plastic cup for drinks to the grainy texture coaster while avoiding the yellow bottle with green top, then place the plastic cup for drinks on the grainy texture coaster.",
+    "Move the medium-sized plastic blue cup onto the wooden coaster while avoiding the yellow shampoo bottle, then let go of the medium-sized plastic blue cup.",
+    "Lift the medium blue cylindrical cup, pass by the yellow shampoo with cartoon design without contact, then place the medium blue cylindrical cup on the coaster with circular shape.",
+    "Take the medium blue cylindrical cup to the grainy texture coaster while skirting the hand-sized yellow shampoo bottle, then release the medium blue cylindrical cup on the grainy texture coaster.",
+    "Grab the cup with smooth plastic surface, swing it away from <the yellow shampoo bottle>, and place the cup with smooth plastic surface on <the round coaster>.",
+    "Using an arm, pick the medium blue cylindrical cup up, skirt the medium shampoo bottle with pump, and place the medium blue cylindrical cup on the grainy texture coaster.",
+    "Slide the light blue plastic cup toward the coaster with circular shape, detouring around the yellow shampoo with cartoon design, then set the light blue plastic cup down.",
+    "Take the smooth blue cup for liquids, route it away from the smooth bottle with green top, and set the smooth blue cup for liquids onto the round coaster with light streaks.",
+    "Grab the smooth blue drinking cup, guide it away from the yellow container with green pump, and set the smooth blue drinking cup neatly on the round coaster.",
+    "Lift the cylindrical light blue cup, route it away from the shampoo with green dispensing pump, then put the cylindrical light blue cup squarely on the light gray round grainy coaster.",
+    "Pick up the rounded base blue cup, keep its path away from <the yellow shampoo with cartoon design>, and set the rounded base blue cup on <the coaster made of smooth wood>.",
+    "Lift the cup with light blue color, carry it around the shampoo with green dispensing pump, and place the cup with light blue color squarely on the coaster made of smooth wood.",
+    "Move the medium blue cylindrical cup to <the round coaster> while keeping its path away from <the yellow bottle with green top>.",
+    "Use an arm to grab the smooth blue drinking cup, avoid the shampoo with green dispensing pump, and set the smooth blue drinking cup down on the light gray round grainy coaster.",
+    "With an arm, take the smooth blue cup for liquids, avoid the hand-sized yellow shampoo bottle, and put the smooth blue cup for liquids on the light gray streaked wooden coaster.",
+    "Use an arm to lift the smooth blue drinking cup, keep distance from <the shampoo bottle with rounded body>, and set the smooth blue drinking cup on <the grainy texture coaster>.",
+    "Carry the rounded base blue cup toward <the round coaster with light streaks>, skirting <the yellow shampoo with cartoon design>, and set the rounded base blue cup down.",
+    "Arm-lift the light blue plastic cup, swing around <the smooth bottle with green top>, then place the light blue plastic cup onto <the wooden coaster>.",
+    "Using an arm, pick the cup for holding liquids up, skirt the yellow container with green pump, and place the cup for holding liquids on the grainy texture coaster.",
+    "With an arm, lift the blue rounded-bottom cup, route past <the hand-sized yellow shampoo bottle>, and drop the blue rounded-bottom cup onto <the grainy texture coaster>.",
+    "Move the light blue plastic cup to the round coaster with light streaks without crossing the plastic shampoo bottle with label, then release the light blue plastic cup.",
+    "Secure the medium blue cylindrical cup, move it around the medium shampoo bottle with pump, and place the medium blue cylindrical cup squarely on the light gray round grainy coaster.",
+    "Use an arm to move the blue rounded-bottom cup around the shampoo bottle with handle slot and rest the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the plastic shampoo bottle with label, and set the blue rounded-bottom cup onto the small coaster with grain texture.",
+    "Pick up the blue rounded-bottom cup, keep clear of <the hand-sized yellow shampoo bottle>, and drop the blue rounded-bottom cup onto <the small coaster with grain texture>.",
+    "With an arm, pick the blue rounded-bottom cup up, bypass <the shampoo bottle with handle slot>, then place the blue rounded-bottom cup on <the light gray round grainy coaster>.",
+    "Using an arm, carry the smooth blue cup for liquids around the yellow container with green pump and place the smooth blue cup for liquids onto the coaster with circular shape.",
+    "With an arm, lift the light blue plastic cup, guide it past the shampoo with green dispensing pump, and put the light blue plastic cup on the flat surface gray wooden coaster.",
+    "Use the arm to carry the rounded base blue cup around the yellow shampoo with cartoon design, then rest the rounded base blue cup on the light gray streaked wooden coaster.",
+    "With an arm, lift the cup with light blue color, avoid <the hand-sized yellow shampoo bottle> on the way, and drop the cup with light blue color on <the small coaster with grain texture>.",
+    "Use an arm, take the rounded base blue cup past the shampoo bottle with rounded body without nearing it, and rest the rounded base blue cup on the coaster with circular shape.",
+    "Use an arm to bring the cup with smooth plastic surface to the light gray streaked wooden coaster, keeping the cup with smooth plastic surface clear of the medium shampoo bottle with pump.",
+    "Grab the medium-sized plastic blue cup, route around the shampoo bottle with handle slot, then lower the medium-sized plastic blue cup onto the light gray streaked wooden coaster.",
+    "Pick up the smooth blue drinking cup, guide it past the plastic shampoo bottle with label, and drop the smooth blue drinking cup on the grainy texture coaster.",
+    "Guide the plastic cup for drinks with the arm around <the shampoo with green dispensing pump> and onto <the round coaster with light streaks>.",
+    "Use an arm: take the plastic cup for drinks, avoid the shampoo bottle with rounded body during the move, and drop it on the coaster with circular shape.",
+    "Move the cup for holding liquids toward the flat surface gray wooden coaster without passing near the hand-sized yellow shampoo bottle, then set it down.",
+    "Slide the smooth blue cup for liquids over to <the small coaster with grain texture> without passing near <the plastic shampoo bottle with label>.",
+    "Take the plastic cup for drinks, swing wide of the bottle with cartoon label, then rest the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Lift the plastic cup for drinks, steer away from <the shampoo with green dispensing pump>, then place the plastic cup for drinks on <the small coaster with grain texture>.",
+    "With an arm, move the medium blue cylindrical cup past the hand-sized yellow shampoo bottle and place the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Use an arm: grasp the smooth blue drinking cup, avoid <the yellow shampoo with cartoon design>, and place the smooth blue drinking cup on <the coaster with circular shape>.",
+    "Move the blue rounded-bottom cup onto the coaster made of smooth wood while avoiding the bottle with cartoon label, then let go of the blue rounded-bottom cup.",
+    "Use an arm, pick the rounded base blue cup up, pass around the shampoo bottle with handle slot, then place the rounded base blue cup on the coaster with circular shape.",
+    "Lift the medium blue cylindrical cup, guide it around <the medium shampoo bottle with pump>, then put the medium blue cylindrical cup onto <the coaster made of smooth wood>.",
+    "Lift the cylindrical light blue cup, guide it past the shampoo bottle with handle slot, and rest the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Use an arm: pick the medium blue cylindrical cup up, skirt <the hand-sized yellow shampoo bottle>, then place the medium blue cylindrical cup onto <the smooth round palm-sized coaster>.",
+    "Using an arm, move the rounded base blue cup to <the flat round wooden coaster> while avoiding <the medium shampoo bottle with pump>, then release the rounded base blue cup."
+  ],
+  "unseen": [
+    "Grab the blue cup, keep it clear of the yellow bottle with rounded edges, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the yellow shampoo with pump dispenser, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, steer it around the smooth plastic shampoo container, then set the blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the yellow shampoo with pump dispenser, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth plastic shampoo container, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the yellow bottle with rounded edges>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the yellow shampoo with pump dispenser, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the yellow shampoo with pump dispenser, then set the blue cup down on the light gray coaster.",
+    "Grab the blue cup, route it around <the yellow shampoo with pump dispenser>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the yellow shampoo with pump dispenser>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the yellow bottle with rounded edges>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the yellow bottle with rounded edges, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the yellow bottle with rounded edges, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the yellow bottle with rounded edges>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the yellow bottle with rounded edges>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the yellow shampoo with pump dispenser, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, steer it around the yellow bottle with rounded edges, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the smooth plastic shampoo container, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow bottle with rounded edges, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, guide it around <the yellow shampoo with pump dispenser>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the smooth plastic shampoo container, and place the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the yellow bottle with rounded edges, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the yellow bottle with rounded edges>, then place the blue cup onto <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the yellow shampoo with pump dispenser>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the yellow bottle with rounded edges>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the smooth plastic shampoo container, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the smooth plastic shampoo container, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the yellow bottle with rounded edges>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the yellow bottle with rounded edges>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the yellow shampoo with pump dispenser, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the yellow bottle with rounded edges, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the smooth plastic shampoo container>, and place it on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the yellow bottle with rounded edges, and place the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the yellow shampoo with pump dispenser, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the smooth plastic shampoo container>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth plastic shampoo container>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the smooth plastic shampoo container, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the yellow bottle with rounded edges>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the yellow bottle with rounded edges, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the yellow shampoo with pump dispenser>, and place the small smooth cup on <the light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the yellow shampoo with pump dispenser>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the yellow shampoo with pump dispenser, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the smooth plastic shampoo container, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the yellow shampoo with pump dispenser, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth plastic shampoo container, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the yellow bottle with rounded edges>, and place it on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the smooth plastic shampoo container, and place the blue cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the yellow bottle with rounded edges, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the yellow shampoo with pump dispenser>, then place the small smooth cup onto <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the yellow bottle with rounded edges>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the yellow shampoo with pump dispenser>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the yellow bottle with rounded edges, and set it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the smooth plastic shampoo container>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the smooth plastic shampoo container>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth plastic shampoo container, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the smooth plastic shampoo container, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the smooth plastic shampoo container, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the yellow shampoo with pump dispenser, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the yellow bottle with rounded edges>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the yellow bottle with rounded edges, and place the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the smooth plastic shampoo container, then set the blue cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the yellow shampoo with pump dispenser>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth plastic shampoo container>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the smooth plastic shampoo container>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the yellow bottle with rounded edges, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the smooth plastic shampoo container, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the smooth plastic shampoo container>, and place the small smooth cup on <the light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the smooth plastic shampoo container>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the yellow bottle with rounded edges, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the yellow bottle with rounded edges, and set the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the smooth plastic shampoo container, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the yellow bottle with rounded edges, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth plastic shampoo container, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, guide it around <the smooth plastic shampoo container>, and place it on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the yellow bottle with rounded edges, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the smooth plastic shampoo container, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the yellow shampoo with pump dispenser>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the smooth plastic shampoo container>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the smooth plastic shampoo container, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the yellow shampoo with pump dispenser>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the yellow bottle with rounded edges, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the smooth plastic shampoo container, and set it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the yellow bottle with rounded edges>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the yellow bottle with rounded edges>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the yellow bottle with rounded edges, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the yellow bottle with rounded edges, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the smooth plastic shampoo container, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the smooth plastic shampoo container, and place it on the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode10.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a47de54837c92243b7b3af7498ad820631c1c54
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the rounded base blue cup, keep clear of the hand-sized shampoo bottle, and put the rounded base blue cup down on the flat round wooden coaster.",
+    "Use an arm, take the blue rounded-bottom cup, avoid <the hand-sized shampoo bottle> on the way, and set on <the light gray streaked wooden coaster>.",
+    "Pick up the plastic cup for drinks, avoid the medium size shampoo bottle along the way, and place the plastic cup for drinks on the wooden coaster.",
+    "Move the blue rounded-bottom cup toward the round coaster without passing near the shampoo bottle with matte black pump, then set it down.",
+    "With an arm, lift the smooth blue drinking cup, avoid <the shampoo container with dispensing pump> on the way, and drop the smooth blue drinking cup on <the smooth round palm-sized coaster>.",
+    "Take the blue rounded-bottom cup, swing wide of the dark green bottle with pump, then rest the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Move the rounded base blue cup onto the grainy texture coaster while avoiding the shampoo bottle with matte black pump, then let go of the rounded base blue cup.",
+    "Carry the blue rounded-bottom cup toward the smooth round palm-sized coaster, keeping the blue rounded-bottom cup away from the shampoo bottle with black pump, then set down.",
+    "Use an arm, take the smooth blue drinking cup past the plastic shampoo container without nearing it, and rest the smooth blue drinking cup on the flat surface gray wooden coaster.",
+    "Using an arm, move the cup with light blue color to <the wooden coaster> while avoiding <the shampoo bottle with matte black pump>, then release the cup with light blue color.",
+    "Arm-lift the medium blue cylindrical cup, swing around <the rectangular dark green shampoo bottle>, then place the medium blue cylindrical cup onto <the grainy texture coaster>.",
+    "Carry the smooth blue cup for liquids toward <the light gray streaked wooden coaster>, keeping clear of <the shampoo container with dispensing pump>, and set the smooth blue cup for liquids down.",
+    "With an arm, pick the medium blue cylindrical cup up, bypass <the shampoo container with dispensing pump>, then place the medium blue cylindrical cup on <the flat surface gray wooden coaster>.",
+    "With an arm, move the cup with smooth plastic surface past the rectangular dark green shampoo bottle and place the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Pick up the light blue plastic cup, keep its path away from <the dark green bottle with pump>, and set the light blue plastic cup on <the small coaster with grain texture>.",
+    "Use an arm: pick the smooth blue drinking cup up, skirt <the medium size shampoo bottle>, then place the smooth blue drinking cup onto <the flat round wooden coaster>.",
+    "Use an arm to grab the smooth blue cup for liquids, avoid the shampoo bottle with smooth surface, and set the smooth blue cup for liquids down on the flat surface gray wooden coaster.",
+    "Pick up the rounded base blue cup, guide it past the shampoo bottle with black pump, and drop the rounded base blue cup on the coaster with circular shape.",
+    "Pick up the rounded base blue cup, route it away from the shampoo container with dispensing pump, then set the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Move the smooth blue cup for liquids to the round coaster while avoiding the shampoo bottle with black pump, then place the smooth blue cup for liquids on the round coaster.",
+    "Lift the cylindrical light blue cup, guide it around <the hand-sized shampoo bottle>, then put the cylindrical light blue cup onto <the small coaster with grain texture>.",
+    "Lift the smooth blue cup for liquids, go around the shampoo bottle with smooth surface, and position the smooth blue cup for liquids squarely on the small coaster with grain texture.",
+    "Lift the medium-sized plastic blue cup, carry it around the plastic shampoo container, and place the medium-sized plastic blue cup squarely on the coaster with circular shape.",
+    "Slide the smooth blue cup for liquids over to <the wooden coaster> without passing near <the rectangular green plastic shampoo dispenser>.",
+    "Take the light blue plastic cup, keep its path away from the green shampoo bottle, and drop the light blue plastic cup on the smooth round palm-sized coaster.",
+    "Guide the rounded base blue cup with the arm around <the medium size shampoo bottle> and onto <the round coaster>.",
+    "Pick the cup with light blue color up, route it away from the rectangular green plastic shampoo dispenser, and drop the cup with light blue color onto the grainy texture coaster.",
+    "Using an arm, pick the light blue plastic cup up, skirt the shampoo bottle with black pump, and place the light blue plastic cup on the small coaster with grain texture.",
+    "Use the arm to move the light blue plastic cup past <the dark green bottle with pump> and rest it on <the smooth round palm-sized coaster>.",
+    "Take the smooth blue drinking cup in the arm, route around <the dark green bottle with pump>, and set it on <the wooden coaster>.",
+    "Secure the smooth blue drinking cup, move it around the rectangular dark green shampoo bottle, and place the smooth blue drinking cup squarely on the grainy texture coaster.",
+    "Pick up the cup with light blue color, keep clear of <the shampoo bottle with matte black pump>, and drop the cup with light blue color onto <the small coaster with grain texture>.",
+    "With an arm, lift the plastic cup for drinks, avoid the medium size shampoo bottle, and place the plastic cup for drinks on the coaster with circular shape.",
+    "Lift the rounded base blue cup, pass by the shampoo bottle, green with black cap without contact, then place the rounded base blue cup on the wooden coaster.",
+    "Use the arm to lift the cup with light blue color, pass the shampoo bottle with black pump, and place the cup with light blue color on the light gray streaked wooden coaster.",
+    "Use an arm, pick the medium-sized plastic blue cup up, pass around the plastic shampoo container, then place the medium-sized plastic blue cup on the wooden coaster.",
+    "Take the blue rounded-bottom cup to the wooden coaster while skirting the rectangular green plastic shampoo dispenser, then release the blue rounded-bottom cup on the wooden coaster.",
+    "Use an arm, keep the smooth blue drinking cup from the dark green bottle with pump, and lower the smooth blue drinking cup onto the light gray streaked wooden coaster.",
+    "Lift the smooth blue drinking cup, route it away from the green shampoo bottle, then put the smooth blue drinking cup squarely on the grainy texture coaster.",
+    "Lift the medium-sized plastic blue cup, arc around the shampoo bottle with black pump, and place the medium-sized plastic blue cup squarely on the coaster with circular shape.",
+    "Move the rounded base blue cup onto the small coaster with grain texture while avoiding the rectangular dark green shampoo bottle, then let go of the rounded base blue cup.",
+    "Take the smooth blue cup for liquids, route it away from the dark green bottle with pump, and set the smooth blue cup for liquids onto the smooth round palm-sized coaster.",
+    "Use an arm to lift the cup with smooth plastic surface, arc around the shampoo container with dispensing pump, and place the cup with smooth plastic surface atop the coaster made of smooth wood.",
+    "Secure the cup for holding liquids, keep its path away from the plastic shampoo container, and set the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Use an arm to move the medium blue cylindrical cup to the flat surface gray wooden coaster, keeping the medium blue cylindrical cup from bumping the rectangular dark green shampoo bottle.",
+    "Use an arm: grab the cup with smooth plastic surface, avoid the medium size shampoo bottle on the way, then set the cup with smooth plastic surface on the grainy texture coaster.",
+    "Use an arm: grasp the blue rounded-bottom cup, avoid <the shampoo bottle with black pump>, and place the blue rounded-bottom cup on <the coaster made of smooth wood>.",
+    "Move the cup with smooth plastic surface onto <the wooden coaster> and ensure the path stays away from <the rectangular dark green shampoo bottle>.",
+    "Grab the smooth blue cup for liquids, guide it away from the rectangular dark green shampoo bottle, and set the smooth blue cup for liquids neatly on the round coaster.",
+    "Use an arm to bring the rounded base blue cup to the coaster with circular shape, keeping the rounded base blue cup clear of the shampoo bottle with matte black pump.",
+    "Slide the smooth blue cup for liquids toward the grainy texture coaster, detouring around the green shampoo bottle, then set the smooth blue cup for liquids down.",
+    "Use an arm to lift the smooth blue cup for liquids, keep distance from <the plastic shampoo container>, and set the smooth blue cup for liquids on <the round coaster>.",
+    "Take the rounded base blue cup, guide it away from <the medium size shampoo bottle>, and place the rounded base blue cup squarely on <the grainy texture coaster>.",
+    "Carry the plastic cup for drinks toward <the wooden coaster>, skirting <the medium size shampoo bottle>, and set the plastic cup for drinks down.",
+    "Take the cup with light blue color, keep its path away from the plastic shampoo container, and place the cup with light blue color on the smooth round palm-sized coaster.",
+    "With an arm, take the rounded base blue cup, avoid the rectangular dark green shampoo bottle, and put the rounded base blue cup on the coaster with circular shape.",
+    "With an arm, lift the cylindrical light blue cup, keep it away from the shampoo bottle, green with black cap, and drop it onto the small coaster with grain texture.",
+    "Move the cylindrical light blue cup to <the flat surface gray wooden coaster> while keeping its path away from <the shampoo bottle, green with black cap>.",
+    "With an arm, lift the medium-sized plastic blue cup, guide it past the shampoo bottle with matte black pump, and put the medium-sized plastic blue cup on the coaster with circular shape.",
+    "With an arm, lift the plastic cup for drinks, route past <the rectangular dark green shampoo bottle>, and drop the plastic cup for drinks onto <the flat surface gray wooden coaster>.",
+    "Use an arm to move the blue rounded-bottom cup toward the smooth round palm-sized coaster, keeping the blue rounded-bottom cup clear of the shampoo bottle, green with black cap.",
+    "Use an arm: take the cup for holding liquids, avoid the rectangular green plastic shampoo dispenser during the move, and drop it on the round coaster.",
+    "Using an arm, carry the cup with smooth plastic surface past <the dark green bottle with pump> and place the cup with smooth plastic surface squarely on <the wooden coaster>.",
+    "With an arm, lift the cup with light blue color, avoid the shampoo bottle with smooth surface, and set the cup with light blue color onto the flat surface gray wooden coaster.",
+    "Lift the blue rounded-bottom cup, guide it past the shampoo container with dispensing pump, and rest the blue rounded-bottom cup on the light gray round grainy coaster.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the hand-sized shampoo bottle, and place the cylindrical light blue cup on the round coaster.",
+    "Lift the medium blue cylindrical cup, steer away from <the shampoo bottle, green with black cap>, then place the medium blue cylindrical cup on <the smooth round palm-sized coaster>.",
+    "Use the arm to carry the plastic cup for drinks around the plastic shampoo container, then rest the plastic cup for drinks on the round coaster with light streaks.",
+    "Grab the light blue plastic cup, swing it away from <the hand-sized shampoo bottle>, and place the light blue plastic cup on <the round coaster>.",
+    "Carry the cup with light blue color toward <the round coaster with light streaks>, keeping the path clear of <the rectangular dark green shampoo bottle>, then set down.",
+    "Grab the cup with light blue color, route around the medium size shampoo bottle, then lower the cup with light blue color onto the flat surface gray wooden coaster.",
+    "Lift the plastic cup for drinks, pass beside <the plastic shampoo container> without contact, then place the plastic cup for drinks onto <the wooden coaster>.",
+    "Use an arm to take the cup with light blue color around <the green shampoo bottle> and place the cup with light blue color on <the coaster with circular shape>.",
+    "Take the blue rounded-bottom cup, arc around <the shampoo bottle, green with black cap>, and place the blue rounded-bottom cup neatly on <the flat round wooden coaster>.",
+    "Using an arm, grasp the plastic cup for drinks, skirt the shampoo bottle with smooth surface, and place the plastic cup for drinks atop the smooth round palm-sized coaster.",
+    "Move the rounded base blue cup to the flat surface gray wooden coaster without crossing the hand-sized shampoo bottle, then release the rounded base blue cup.",
+    "With an arm, bring the rounded base blue cup over to <the coaster made of smooth wood> and keep clear of <the shampoo bottle with smooth surface>.",
+    "Using an arm, carry the cylindrical light blue cup around the green shampoo bottle and place the cylindrical light blue cup onto the light gray streaked wooden coaster.",
+    "Move the medium-sized plastic blue cup to <the smooth round palm-sized coaster> while keeping the medium-sized plastic blue cup away from <the shampoo bottle with black pump>, then release.",
+    "Use an arm to move the medium-sized plastic blue cup around the medium size shampoo bottle and rest the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "Lift the cup for holding liquids, keep clear of the shampoo bottle with black pump, and put the cup for holding liquids down on the round coaster with light streaks.",
+    "Use an arm, take the cup with light blue color, avoid <the dark green bottle with pump> on the way, and set on <the flat surface gray wooden coaster>.",
+    "Pick up the cup for holding liquids, avoid the shampoo bottle with matte black pump along the way, and place the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Move the cup with light blue color toward the flat surface gray wooden coaster without passing near the plastic shampoo container, then set it down.",
+    "With an arm, lift the blue rounded-bottom cup, avoid <the medium size shampoo bottle> on the way, and drop the blue rounded-bottom cup on <the smooth round palm-sized coaster>.",
+    "Take the medium-sized plastic blue cup, swing wide of the green shampoo bottle, then rest the medium-sized plastic blue cup on the light gray round grainy coaster.",
+    "Move the blue rounded-bottom cup onto the round coaster with light streaks while avoiding the dark green bottle with pump, then let go of the blue rounded-bottom cup.",
+    "Carry the cylindrical light blue cup toward the light gray streaked wooden coaster, keeping the cylindrical light blue cup away from the hand-sized shampoo bottle, then set down.",
+    "Use an arm, take the light blue plastic cup past the shampoo bottle with black pump without nearing it, and rest the light blue plastic cup on the grainy texture coaster.",
+    "Using an arm, move the smooth blue drinking cup to <the coaster with circular shape> while avoiding <the shampoo bottle with black pump>, then release the smooth blue drinking cup.",
+    "Arm-lift the plastic cup for drinks, swing around <the rectangular dark green shampoo bottle>, then place the plastic cup for drinks onto <the small coaster with grain texture>.",
+    "Carry the medium blue cylindrical cup toward <the coaster with circular shape>, keeping clear of <the shampoo bottle with black pump>, and set the medium blue cylindrical cup down.",
+    "With an arm, pick the medium-sized plastic blue cup up, bypass <the green shampoo bottle>, then place the medium-sized plastic blue cup on <the grainy texture coaster>.",
+    "With an arm, move the smooth blue cup for liquids past the shampoo bottle with black pump and place the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "Pick up the cylindrical light blue cup, keep its path away from <the shampoo bottle with matte black pump>, and set the cylindrical light blue cup on <the flat surface gray wooden coaster>.",
+    "Use an arm: pick the smooth blue drinking cup up, skirt <the rectangular dark green shampoo bottle>, then place the smooth blue drinking cup onto <the coaster with circular shape>.",
+    "Use an arm to grab the plastic cup for drinks, avoid the plastic shampoo container, and set the plastic cup for drinks down on the round coaster.",
+    "Pick up the blue rounded-bottom cup, guide it past the shampoo bottle with matte black pump, and drop the blue rounded-bottom cup on the round coaster.",
+    "Pick up the cup for holding liquids, route it away from the green shampoo bottle, then set the cup for holding liquids on the round coaster.",
+    "Move the cup with smooth plastic surface to the coaster made of smooth wood while avoiding the plastic shampoo container, then place the cup with smooth plastic surface on the coaster made of smooth wood."
+  ],
+  "unseen": [
+    "Grab the small smooth cup, steer it around the green bottle with pump top, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle for personal use, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the dark green pump shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the dark green pump shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the dark green pump shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle for personal use, then place the small smooth cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the dark green pump shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the green bottle with pump top, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle for personal use>, and place it on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle for personal use, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the green bottle with pump top, then place the small smooth cup onto the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the dark green pump shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle for personal use>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the dark green pump shampoo bottle>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle for personal use, and set it on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep clear of the shampoo bottle for personal use, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle for personal use, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle for personal use, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the dark green pump shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle for personal use, and place it on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle for personal use>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle for personal use, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the green bottle with pump top>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the dark green pump shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the dark green pump shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the green bottle with pump top, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle for personal use, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the green bottle with pump top>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the green bottle with pump top>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle for personal use>, and place the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the dark green pump shampoo bottle, and set it on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle for personal use, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the dark green pump shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the green bottle with pump top, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the green bottle with pump top, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the green bottle with pump top, and place it on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the dark green pump shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle for personal use, then place the blue cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the green bottle with pump top>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the dark green pump shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the green bottle with pump top>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, avoid the dark green pump shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the dark green pump shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the green bottle with pump top>, and set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the dark green pump shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the dark green pump shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle for personal use, and set it on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the dark green pump shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, steer it around the dark green pump shampoo bottle, then set the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle for personal use, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the green bottle with pump top, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the dark green pump shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the dark green pump shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle for personal use, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the dark green pump shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the green bottle with pump top, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the green bottle with pump top>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the green bottle with pump top, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the dark green pump shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the green bottle with pump top>, and set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the green bottle with pump top>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle for personal use>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle for personal use, and set it on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the dark green pump shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the green bottle with pump top, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the green bottle with pump top, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the dark green pump shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the dark green pump shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle for personal use>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the green bottle with pump top, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the dark green pump shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the dark green pump shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the dark green pump shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the green bottle with pump top, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the green bottle with pump top, then place the handheld round blue cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle for personal use>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, route it around <the dark green pump shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the green bottle with pump top>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the dark green pump shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the green bottle with pump top, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the green bottle with pump top, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle for personal use, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the green bottle with pump top, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the dark green pump shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the dark green pump shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the dark green pump shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle for personal use>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the shampoo bottle for personal use, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle for personal use>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the dark green pump shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle for personal use, then place the small smooth cup onto the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the dark green pump shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the green bottle with pump top>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the dark green pump shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the dark green pump shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the green bottle with pump top, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the dark green pump shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the dark green pump shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the green bottle with pump top, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the green bottle with pump top, and place it on the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode11.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..3657ef86badf620a954dc43ae3ad2ed8051a011a
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the rounded base blue cup, guide it away from <the medium oval plastic shampoo container>, and place the rounded base blue cup squarely on <the flat surface gray wooden coaster>.",
+    "Pick up the cup with light blue color, route it away from the shampoo dispenser with flat base, then set the cup with light blue color on the grainy texture coaster.",
+    "Take the rounded base blue cup, arc around <the white body pink flip cap bottle>, and place the rounded base blue cup neatly on <the small coaster with grain texture>.",
+    "Move the cylindrical light blue cup onto <the grainy texture coaster> and ensure the path stays away from <the smooth white shampoo dispenser>.",
+    "Use an arm, take the cup with light blue color past the medium oval plastic shampoo container without nearing it, and rest the cup with light blue color on the flat surface gray wooden coaster.",
+    "Take the light blue plastic cup, keep its path away from the smooth white shampoo dispenser, and place the light blue plastic cup on the coaster with circular shape.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid the plastic shampoo container, and set the medium-sized plastic blue cup onto the flat round wooden coaster.",
+    "Pick up the rounded base blue cup, keep clear of <the white body pink flip cap bottle>, and drop the rounded base blue cup onto <the wooden coaster>.",
+    "Lift the smooth blue drinking cup, pass by the medium shampoo bottle without contact, then place the smooth blue drinking cup on the wooden coaster.",
+    "Using an arm, pick the blue rounded-bottom cup up, skirt the plastic shampoo container, and place the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Lift the medium blue cylindrical cup, go around the medium oval plastic shampoo container, and position the medium blue cylindrical cup squarely on the light gray round grainy coaster.",
+    "Lift the rounded base blue cup, route it away from the medium oval plastic shampoo container, then put the rounded base blue cup squarely on the round coaster with light streaks.",
+    "Lift the cup for holding liquids, arc around the hand-sized shampoo bottle, and place the cup for holding liquids squarely on the smooth round palm-sized coaster.",
+    "Move the smooth blue drinking cup to <the light gray round grainy coaster> while keeping the smooth blue drinking cup away from <the white body pink flip cap bottle>, then release.",
+    "Using an arm, carry the plastic cup for drinks past <the medium oval plastic shampoo container> and place the plastic cup for drinks squarely on <the light gray streaked wooden coaster>.",
+    "Using an arm, grasp the plastic cup for drinks, skirt the hand-sized shampoo bottle, and place the plastic cup for drinks atop the coaster with circular shape.",
+    "Move the smooth blue drinking cup to the light gray streaked wooden coaster without crossing the shampoo dispenser with flat base, then release the smooth blue drinking cup.",
+    "With an arm, lift the medium blue cylindrical cup, avoid the medium oval plastic shampoo container, and place the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Carry the light blue plastic cup toward the grainy texture coaster, keeping the light blue plastic cup away from the shampoo dispenser with flat base, then set down.",
+    "Pick up the light blue plastic cup, guide it past the pink-topped shampoo bottle, and drop the light blue plastic cup on the flat surface gray wooden coaster.",
+    "With an arm, move the cup with smooth plastic surface past the white shampoo bottle and place the cup with smooth plastic surface on the wooden coaster.",
+    "Use an arm, pick the cylindrical light blue cup up, pass around the plastic shampoo container, then place the cylindrical light blue cup on the coaster with circular shape.",
+    "Use the arm to lift the medium blue cylindrical cup, pass the plastic shampoo container, and place the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Grab the smooth blue cup for liquids, route around the white body pink flip cap bottle, then lower the smooth blue cup for liquids onto the flat round wooden coaster.",
+    "Using an arm, move the cylindrical light blue cup to <the round coaster> while avoiding <the shampoo dispenser with flat base>, then release the cylindrical light blue cup.",
+    "Lift the blue rounded-bottom cup, steer away from <the medium oval plastic shampoo container>, then place the blue rounded-bottom cup on <the round coaster>.",
+    "Arm-lift the light blue plastic cup, swing around <the hand-sized shampoo bottle>, then place the light blue plastic cup onto <the coaster made of smooth wood>.",
+    "Pick up the medium-sized plastic blue cup, avoid the plastic shampoo container along the way, and place the medium-sized plastic blue cup on the light gray round grainy coaster.",
+    "Pick the smooth blue drinking cup up, route it away from the oval-shaped shampoo bottle, and drop the smooth blue drinking cup onto the wooden coaster.",
+    "Pick up the cup for holding liquids, keep its path away from <the white shampoo bottle>, and set the cup for holding liquids on <the light gray round grainy coaster>.",
+    "Use an arm to lift the smooth blue cup for liquids, arc around the medium oval plastic shampoo container, and place the smooth blue cup for liquids atop the wooden coaster.",
+    "Use the arm to move the blue rounded-bottom cup past <the white shampoo bottle> and rest it on <the light gray round grainy coaster>.",
+    "Use an arm to move the rounded base blue cup to the coaster with circular shape, keeping the rounded base blue cup from bumping the oval-shaped shampoo bottle.",
+    "Use an arm to lift the plastic cup for drinks, keep distance from <the white body pink flip cap bottle>, and set the plastic cup for drinks on <the coaster with circular shape>.",
+    "Move the smooth blue cup for liquids to <the wooden coaster> while keeping its path away from <the smooth white shampoo dispenser>.",
+    "Use an arm to bring the cylindrical light blue cup to the flat round wooden coaster, keeping the cylindrical light blue cup clear of the medium shampoo bottle.",
+    "Carry the smooth blue drinking cup toward <the coaster with circular shape>, keeping the path clear of <the shampoo bottle with pink cap>, then set down.",
+    "With an arm, pick the blue rounded-bottom cup up, bypass <the shampoo bottle with pink cap>, then place the blue rounded-bottom cup on <the light gray round grainy coaster>.",
+    "Use an arm: take the medium blue cylindrical cup, avoid the glossy white shampoo bottle during the move, and drop it on the flat surface gray wooden coaster.",
+    "Guide the rounded base blue cup with the arm around <the medium shampoo bottle> and onto <the coaster made of smooth wood>.",
+    "Lift the plastic cup for drinks, pass beside <the plastic shampoo container> without contact, then place the plastic cup for drinks onto <the coaster with circular shape>.",
+    "Lift the blue rounded-bottom cup, guide it past the white shampoo bottle, and rest the blue rounded-bottom cup on the wooden coaster.",
+    "Take the medium blue cylindrical cup in the arm, route around <the white body pink flip cap bottle>, and set it on <the coaster made of smooth wood>.",
+    "Lift the smooth blue cup for liquids, keep clear of the oval-shaped shampoo bottle, and put the smooth blue cup for liquids down on the flat surface gray wooden coaster.",
+    "Use an arm: pick the cup with smooth plastic surface up, skirt <the smooth white shampoo dispenser>, then place the cup with smooth plastic surface onto <the wooden coaster>.",
+    "Carry the blue rounded-bottom cup toward <the coaster made of smooth wood>, skirting <the pink-topped shampoo bottle>, and set the blue rounded-bottom cup down.",
+    "Use an arm, keep the cup with smooth plastic surface from the medium oval plastic shampoo container, and lower the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "With an arm, lift the medium blue cylindrical cup, avoid <the oval-shaped shampoo bottle> on the way, and drop the medium blue cylindrical cup on <the round coaster with light streaks>.",
+    "Use an arm to take the cup with light blue color around <the plastic shampoo container> and place the cup with light blue color on <the coaster with circular shape>.",
+    "Using an arm, pick the medium blue cylindrical cup up, skirt the shampoo dispenser with flat base, and place the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Move the cup for holding liquids toward the round coaster with light streaks without passing near the medium shampoo bottle, then set it down.",
+    "With an arm, take the rounded base blue cup, avoid the oval-shaped shampoo bottle, and put the rounded base blue cup on the wooden coaster.",
+    "Lift the light blue plastic cup, carry it around the shampoo bottle with pink cap, and place the light blue plastic cup squarely on the round coaster with light streaks.",
+    "Use an arm to grab the medium blue cylindrical cup, avoid the smooth white shampoo dispenser, and set the medium blue cylindrical cup down on the flat round wooden coaster.",
+    "Move the plastic cup for drinks onto the flat round wooden coaster while avoiding the glossy white shampoo bottle, then let go of the plastic cup for drinks.",
+    "Slide the smooth blue cup for liquids toward the small coaster with grain texture, detouring around the hand-sized shampoo bottle, then set the smooth blue cup for liquids down.",
+    "Use an arm to move the light blue plastic cup around the smooth white shampoo dispenser and rest the light blue plastic cup on the flat round wooden coaster.",
+    "Use an arm: grasp the cylindrical light blue cup, avoid <the medium oval plastic shampoo container>, and place the cylindrical light blue cup on <the small coaster with grain texture>.",
+    "Grab the smooth blue cup for liquids, guide it away from the smooth white shampoo dispenser, and set the smooth blue cup for liquids neatly on the small coaster with grain texture.",
+    "Take the cup for holding liquids to the flat round wooden coaster while skirting the pink-topped shampoo bottle, then release the cup for holding liquids on the flat round wooden coaster.",
+    "Secure the medium-sized plastic blue cup, move it around the oval-shaped shampoo bottle, and place the medium-sized plastic blue cup squarely on the light gray streaked wooden coaster.",
+    "With an arm, lift the cylindrical light blue cup, guide it past the hand-sized shampoo bottle, and put the cylindrical light blue cup on the round coaster with light streaks.",
+    "Use the arm to carry the cup with light blue color around the shampoo dispenser with flat base, then rest the cup with light blue color on the round coaster with light streaks.",
+    "Use an arm: grab the light blue plastic cup, avoid the shampoo bottle with pink cap on the way, then set the light blue plastic cup on the coaster made of smooth wood.",
+    "With an arm, lift the light blue plastic cup, keep it away from the smooth white shampoo dispenser, and drop it onto the light gray round grainy coaster.",
+    "Lift the cup with smooth plastic surface, guide it around <the white body pink flip cap bottle>, then put the cup with smooth plastic surface onto <the small coaster with grain texture>.",
+    "Take the smooth blue cup for liquids, keep its path away from the medium oval plastic shampoo container, and drop the smooth blue cup for liquids on the wooden coaster.",
+    "Take the cylindrical light blue cup, swing wide of the pink-topped shampoo bottle, then rest the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Carry the cup with smooth plastic surface toward <the small coaster with grain texture>, keeping clear of <the oval-shaped shampoo bottle>, and set the cup with smooth plastic surface down.",
+    "With an arm, bring the plastic cup for drinks over to <the grainy texture coaster> and keep clear of <the shampoo dispenser with flat base>.",
+    "Move the cup with light blue color onto the light gray streaked wooden coaster while avoiding the oval-shaped shampoo bottle, then let go of the cup with light blue color.",
+    "Use an arm to move the cup with smooth plastic surface toward the small coaster with grain texture, keeping the cup with smooth plastic surface clear of the shampoo bottle with pink cap.",
+    "With an arm, lift the plastic cup for drinks, route past <the white body pink flip cap bottle>, and drop the plastic cup for drinks onto <the light gray round grainy coaster>.",
+    "Use an arm, take the blue rounded-bottom cup, avoid <the hand-sized shampoo bottle> on the way, and set on <the light gray round grainy coaster>.",
+    "Move the plastic cup for drinks to the flat surface gray wooden coaster while avoiding the pink-topped shampoo bottle, then place the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Take the cylindrical light blue cup, route it away from the medium oval plastic shampoo container, and set the cylindrical light blue cup onto the smooth round palm-sized coaster.",
+    "Using an arm, carry the medium-sized plastic blue cup around the pink-topped shampoo bottle and place the medium-sized plastic blue cup onto the round coaster.",
+    "Grab the cup with light blue color, swing it away from <the oval-shaped shampoo bottle>, and place the cup with light blue color on <the grainy texture coaster>.",
+    "Secure the cup for holding liquids, keep its path away from the shampoo bottle with pink cap, and set the cup for holding liquids on the grainy texture coaster.",
+    "Slide the smooth blue drinking cup over to <the wooden coaster> without passing near <the oval-shaped shampoo bottle>.",
+    "Take the rounded base blue cup, guide it away from <the smooth white shampoo dispenser>, and place the rounded base blue cup squarely on <the coaster with circular shape>.",
+    "Pick up the medium blue cylindrical cup, route it away from the smooth white shampoo dispenser, then set the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Take the light blue plastic cup, arc around <the shampoo bottle with pink cap>, and place the light blue plastic cup neatly on <the light gray round grainy coaster>.",
+    "Move the blue rounded-bottom cup onto <the coaster with circular shape> and ensure the path stays away from <the pink-topped shampoo bottle>.",
+    "Use an arm, take the cup with light blue color past the white body pink flip cap bottle without nearing it, and rest the cup with light blue color on the grainy texture coaster.",
+    "Take the cup for holding liquids, keep its path away from the pink-topped shampoo bottle, and place the cup for holding liquids on the grainy texture coaster.",
+    "With an arm, lift the plastic cup for drinks, avoid the white body pink flip cap bottle, and set the plastic cup for drinks onto the coaster made of smooth wood.",
+    "Pick up the plastic cup for drinks, keep clear of <the pink-topped shampoo bottle>, and drop the plastic cup for drinks onto <the grainy texture coaster>.",
+    "Lift the cup with light blue color, pass by the pink-topped shampoo bottle without contact, then place the cup with light blue color on the light gray round grainy coaster.",
+    "Using an arm, pick the cup with smooth plastic surface up, skirt the medium shampoo bottle, and place the cup with smooth plastic surface on the coaster with circular shape.",
+    "Lift the cup with light blue color, go around the pink-topped shampoo bottle, and position the cup with light blue color squarely on the flat round wooden coaster.",
+    "Lift the medium-sized plastic blue cup, route it away from the plastic shampoo container, then put the medium-sized plastic blue cup squarely on the coaster with circular shape.",
+    "Lift the blue rounded-bottom cup, arc around the oval-shaped shampoo bottle, and place the blue rounded-bottom cup squarely on the coaster made of smooth wood.",
+    "Move the rounded base blue cup to <the round coaster with light streaks> while keeping the rounded base blue cup away from <the plastic shampoo container>, then release.",
+    "Using an arm, carry the cylindrical light blue cup past <the white body pink flip cap bottle> and place the cylindrical light blue cup squarely on <the grainy texture coaster>.",
+    "Using an arm, grasp the smooth blue drinking cup, skirt the medium oval plastic shampoo container, and place the smooth blue drinking cup atop the flat round wooden coaster.",
+    "Move the rounded base blue cup to the light gray streaked wooden coaster without crossing the white shampoo bottle, then release the rounded base blue cup.",
+    "With an arm, lift the smooth blue cup for liquids, avoid the glossy white shampoo bottle, and place the smooth blue cup for liquids on the round coaster with light streaks.",
+    "Carry the light blue plastic cup toward the wooden coaster, keeping the light blue plastic cup away from the medium shampoo bottle, then set down.",
+    "Pick up the cup with light blue color, guide it past the glossy white shampoo bottle, and drop the cup with light blue color on the grainy texture coaster."
+  ],
+  "unseen": [
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with Dove logo>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the Dove shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with Dove logo, and place the blue cup on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the bottle for holding shampoo, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the Dove shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the bottle for holding shampoo, then set the blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the Dove shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the Dove shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with Dove logo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with Dove logo, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the bottle for holding shampoo, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with Dove logo, then place the blue cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the Dove shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the Dove shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the Dove shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with Dove logo, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the bottle for holding shampoo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with Dove logo>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the Dove shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with Dove logo, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with Dove logo, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with Dove logo, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the bottle for holding shampoo>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the bottle for holding shampoo, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the Dove shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with Dove logo, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with Dove logo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the Dove shampoo bottle>, and set the small smooth cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the bottle for holding shampoo>, then set the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the bottle for holding shampoo>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the Dove shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the bottle for holding shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the bottle for holding shampoo>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the shampoo bottle with Dove logo, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the bottle for holding shampoo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with Dove logo, then set the handheld round blue cup down on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the Dove shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the bottle for holding shampoo, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle with Dove logo, and set it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with Dove logo>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the Dove shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the Dove shampoo bottle>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with Dove logo, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with Dove logo, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the Dove shampoo bottle>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, steer it around the bottle for holding shampoo, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the bottle for holding shampoo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the bottle for holding shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the bottle for holding shampoo, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the Dove shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the bottle for holding shampoo, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the Dove shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with Dove logo>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with Dove logo>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the shampoo bottle with Dove logo>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the Dove shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the bottle for holding shampoo, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with Dove logo>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the Dove shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the Dove shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the Dove shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the bottle for holding shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the Dove shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the bottle for holding shampoo>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with Dove logo, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with Dove logo, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the Dove shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the bottle for holding shampoo>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the bottle for holding shampoo>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with Dove logo, and place the blue cup on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the bottle for holding shampoo, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the bottle for holding shampoo>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the bottle for holding shampoo, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the Dove shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the Dove shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the Dove shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the bottle for holding shampoo>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the bottle for holding shampoo, and place it on the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the Dove shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with Dove logo>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the Dove shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the bottle for holding shampoo>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the bottle for holding shampoo, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the bottle for holding shampoo, then place the handheld round blue cup onto the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode12.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..26861bf592c1edf5541b04c870d1d2d0825dd642
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the smooth blue drinking cup, keep its path away from the rectangular pink shampoo container, and set the smooth blue drinking cup on the coaster with circular shape.",
+    "Using an arm, move the cylindrical light blue cup to <the flat surface gray wooden coaster> while avoiding <the rectangular pink shampoo container>, then release the cylindrical light blue cup.",
+    "Take the light blue plastic cup, keep its path away from the rectangular pink bottle with dispenser, and place the light blue plastic cup on the light gray round grainy coaster.",
+    "Lift the cup for holding liquids, steer away from <the smooth pink plastic shampoo bottle>, then place the cup for holding liquids on <the light gray streaked wooden coaster>.",
+    "Carry the plastic cup for drinks toward <the wooden coaster>, keeping the path clear of <the shampoo bottle with shiny pink body>, then set down.",
+    "Use an arm to bring the cup with light blue color to the coaster with circular shape, keeping the cup with light blue color clear of the smooth pink plastic shampoo bottle.",
+    "Take the plastic cup for drinks, route it away from the smooth pink plastic shampoo bottle, and set the plastic cup for drinks onto the flat round wooden coaster.",
+    "Take the rounded base blue cup to the round coaster while skirting the rectangular pink bottle with dispenser, then release the rounded base blue cup on the round coaster.",
+    "Use an arm to move the medium blue cylindrical cup toward the light gray round grainy coaster, keeping the medium blue cylindrical cup clear of the smooth pink plastic shampoo bottle.",
+    "Take the medium-sized plastic blue cup, swing wide of the smooth pink plastic shampoo bottle, then rest the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "Use an arm: grab the medium-sized plastic blue cup, avoid the pink bottle with narrow top on the way, then set the medium-sized plastic blue cup on the wooden coaster.",
+    "Lift the cylindrical light blue cup, arc around the hand-sized pink shampoo container, and place the cylindrical light blue cup squarely on the round coaster.",
+    "Move the cup with smooth plastic surface to <the grainy texture coaster> while keeping its path away from <the medium pink bottle for shampoo>.",
+    "Use an arm: pick the cup for holding liquids up, skirt <the plastic shampoo bottle with black pump>, then place the cup for holding liquids onto <the light gray round grainy coaster>.",
+    "Use an arm, take the smooth blue drinking cup past the shampoo bottle with rectangular shape without nearing it, and rest the smooth blue drinking cup on the coaster made of smooth wood.",
+    "Use an arm to move the cup with smooth plastic surface to the light gray streaked wooden coaster, keeping the cup with smooth plastic surface from bumping the plastic shampoo bottle with black pump.",
+    "Take the smooth blue cup for liquids, arc around <the rectangular pink bottle with dispenser>, and place the smooth blue cup for liquids neatly on <the flat surface gray wooden coaster>.",
+    "Grab the medium-sized plastic blue cup, swing it away from <the pink shampoo bottle>, and place the medium-sized plastic blue cup on <the grainy texture coaster>.",
+    "Use an arm to grab the cylindrical light blue cup, avoid the rectangular pink bottle with dispenser, and set the cylindrical light blue cup down on the small coaster with grain texture.",
+    "Lift the medium blue cylindrical cup, guide it around <the shampoo bottle with shiny pink body>, then put the medium blue cylindrical cup onto <the round coaster>.",
+    "Guide the cup with smooth plastic surface with the arm around <the shampoo bottle with rectangular shape> and onto <the flat round wooden coaster>.",
+    "Use an arm to move the medium blue cylindrical cup around the shampoo bottle with rectangular shape and rest the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Move the rounded base blue cup onto <the wooden coaster> and ensure the path stays away from <the hand-sized pink shampoo container>.",
+    "Lift the medium blue cylindrical cup, route it away from the rectangular pink bottle with dispenser, then put the medium blue cylindrical cup squarely on the flat surface gray wooden coaster.",
+    "Move the cup with smooth plastic surface to the flat surface gray wooden coaster while avoiding the rectangular pink bottle with dispenser, then place the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "Use the arm to carry the plastic cup for drinks around the rectangular pink shampoo container, then rest the plastic cup for drinks on the coaster made of smooth wood.",
+    "Pick up the cup with light blue color, guide it past the smooth pink plastic shampoo bottle, and drop the cup with light blue color on the flat round wooden coaster.",
+    "Grab the rounded base blue cup, guide it away from the pink shampoo container with pump top, and set the rounded base blue cup neatly on the grainy texture coaster.",
+    "Grab the light blue plastic cup, route around the pink bottle with narrow top, then lower the light blue plastic cup onto the coaster with circular shape.",
+    "Move the cup with light blue color to <the round coaster with light streaks> while keeping the cup with light blue color away from <the plastic shampoo bottle with black pump>, then release.",
+    "With an arm, bring the cup with light blue color over to <the light gray streaked wooden coaster> and keep clear of <the pink bottle with black dispenser>.",
+    "Slide the medium-sized plastic blue cup toward the light gray round grainy coaster, detouring around the pink bottle with black dispenser, then set the medium-sized plastic blue cup down.",
+    "With an arm, lift the cylindrical light blue cup, guide it past the pink bottle with black dispenser, and put the cylindrical light blue cup on the small coaster with grain texture.",
+    "Take the cylindrical light blue cup, keep its path away from the rectangular pink bottle with dispenser, and drop the cylindrical light blue cup on the grainy texture coaster.",
+    "Secure the rounded base blue cup, move it around the hand-sized pink shampoo container, and place the rounded base blue cup squarely on the flat round wooden coaster.",
+    "Use an arm to lift the plastic cup for drinks, arc around the pink shampoo container with pump top, and place the plastic cup for drinks atop the small coaster with grain texture.",
+    "Use an arm: grasp the medium blue cylindrical cup, avoid <the pink bottle with narrow top>, and place the medium blue cylindrical cup on <the flat surface gray wooden coaster>.",
+    "Pick up the cylindrical light blue cup, avoid the pink bottle with narrow top along the way, and place the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "With an arm, move the medium-sized plastic blue cup past the shampoo bottle with shiny pink body and place the medium-sized plastic blue cup on the light gray round grainy coaster.",
+    "Using an arm, carry the smooth blue cup for liquids around the hand-sized pink shampoo container and place the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Lift the smooth blue cup for liquids, guide it past the pink bottle with narrow top, and rest the smooth blue cup for liquids on the grainy texture coaster.",
+    "With an arm, lift the light blue plastic cup, avoid the pink shampoo bottle, and place the light blue plastic cup on the coaster with circular shape.",
+    "Move the plastic cup for drinks to the round coaster without crossing the hand-sized pink shampoo container, then release the plastic cup for drinks.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the pink shampoo container with pump top, and place the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Move the cylindrical light blue cup toward the grainy texture coaster without passing near the plastic shampoo bottle with black pump, then set it down.",
+    "Use an arm to lift the smooth blue cup for liquids, keep distance from <the pink bottle with black dispenser>, and set the smooth blue cup for liquids on <the round coaster>.",
+    "Carry the blue rounded-bottom cup toward the flat surface gray wooden coaster, keeping the blue rounded-bottom cup away from the rectangular pink shampoo container, then set down.",
+    "Use an arm, keep the cup for holding liquids from the pink shampoo bottle, and lower the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Lift the medium blue cylindrical cup, pass beside <the pink bottle with black dispenser> without contact, then place the medium blue cylindrical cup onto <the light gray round grainy coaster>.",
+    "With an arm, lift the blue rounded-bottom cup, keep it away from the pink shampoo container with pump top, and drop it onto the wooden coaster.",
+    "Use the arm to lift the plastic cup for drinks, pass the smooth pink plastic shampoo bottle, and place the plastic cup for drinks on the flat round wooden coaster.",
+    "Take the medium-sized plastic blue cup in the arm, route around <the shampoo bottle with rectangular shape>, and set it on <the coaster made of smooth wood>.",
+    "Use the arm to move the medium-sized plastic blue cup past <the pink shampoo bottle> and rest it on <the light gray streaked wooden coaster>.",
+    "Lift the rounded base blue cup, keep clear of the pink shampoo bottle, and put the rounded base blue cup down on the wooden coaster.",
+    "Use an arm, take the cup with light blue color, avoid <the rectangular pink shampoo container> on the way, and set on <the small coaster with grain texture>.",
+    "Use an arm to take the cup with smooth plastic surface around <the pink shampoo container with pump top> and place the cup with smooth plastic surface on <the flat surface gray wooden coaster>.",
+    "Pick the medium blue cylindrical cup up, route it away from the plastic shampoo bottle with black pump, and drop the medium blue cylindrical cup onto the light gray round grainy coaster.",
+    "Carry the blue rounded-bottom cup toward <the wooden coaster>, keeping clear of <the smooth pink plastic shampoo bottle>, and set the blue rounded-bottom cup down.",
+    "Lift the medium-sized plastic blue cup, pass by the pink shampoo bottle without contact, then place the medium-sized plastic blue cup on the light gray round grainy coaster.",
+    "With an arm, lift the cup for holding liquids, avoid <the smooth pink plastic shampoo bottle> on the way, and drop the cup for holding liquids on <the coaster made of smooth wood>.",
+    "With an arm, take the rounded base blue cup, avoid the pink bottle with narrow top, and put the rounded base blue cup on the coaster made of smooth wood.",
+    "Carry the rounded base blue cup toward <the round coaster with light streaks>, skirting <the pink shampoo bottle>, and set the rounded base blue cup down.",
+    "Use an arm: take the smooth blue cup for liquids, avoid the medium pink bottle for shampoo during the move, and drop it on the smooth round palm-sized coaster.",
+    "Pick up the cylindrical light blue cup, route it away from the hand-sized pink shampoo container, then set the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Move the medium blue cylindrical cup onto the small coaster with grain texture while avoiding the rectangular pink bottle with dispenser, then let go of the medium blue cylindrical cup.",
+    "Use an arm, pick the medium blue cylindrical cup up, pass around the rectangular pink shampoo container, then place the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Arm-lift the medium blue cylindrical cup, swing around <the hand-sized pink shampoo container>, then place the medium blue cylindrical cup onto <the smooth round palm-sized coaster>.",
+    "Using an arm, pick the medium-sized plastic blue cup up, skirt the plastic shampoo bottle with black pump, and place the medium-sized plastic blue cup on the wooden coaster.",
+    "Move the cup with light blue color onto the light gray streaked wooden coaster while avoiding the shampoo bottle with shiny pink body, then let go of the cup with light blue color.",
+    "Using an arm, grasp the cylindrical light blue cup, skirt the plastic shampoo bottle with black pump, and place the cylindrical light blue cup atop the small coaster with grain texture.",
+    "With an arm, lift the cup with smooth plastic surface, route past <the hand-sized pink shampoo container>, and drop the cup with smooth plastic surface onto <the round coaster with light streaks>.",
+    "With an arm, pick the rounded base blue cup up, bypass <the pink bottle with narrow top>, then place the rounded base blue cup on <the smooth round palm-sized coaster>.",
+    "With an arm, lift the smooth blue cup for liquids, avoid the plastic shampoo bottle with black pump, and set the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Lift the smooth blue cup for liquids, carry it around the rectangular pink bottle with dispenser, and place the smooth blue cup for liquids squarely on the flat surface gray wooden coaster.",
+    "Lift the blue rounded-bottom cup, go around the smooth pink plastic shampoo bottle, and position the blue rounded-bottom cup squarely on the grainy texture coaster.",
+    "Take the cup with smooth plastic surface, guide it away from <the shampoo bottle with rectangular shape>, and place the cup with smooth plastic surface squarely on <the smooth round palm-sized coaster>.",
+    "Slide the blue rounded-bottom cup over to <the wooden coaster> without passing near <the shampoo bottle with shiny pink body>.",
+    "Using an arm, carry the blue rounded-bottom cup past <the shampoo bottle with shiny pink body> and place the blue rounded-bottom cup squarely on <the coaster with circular shape>.",
+    "Pick up the light blue plastic cup, keep its path away from <the rectangular pink shampoo container>, and set the light blue plastic cup on <the smooth round palm-sized coaster>.",
+    "Pick up the light blue plastic cup, keep clear of <the pink bottle with black dispenser>, and drop the light blue plastic cup onto <the coaster with circular shape>.",
+    "Secure the smooth blue drinking cup, keep its path away from the rectangular pink shampoo container, and set the smooth blue drinking cup on the small coaster with grain texture.",
+    "Using an arm, move the smooth blue cup for liquids to <the smooth round palm-sized coaster> while avoiding <the shampoo bottle with rectangular shape>, then release the smooth blue cup for liquids.",
+    "Take the blue rounded-bottom cup, keep its path away from the medium pink bottle for shampoo, and place the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Lift the rounded base blue cup, steer away from <the pink shampoo container with pump top>, then place the rounded base blue cup on <the coaster with circular shape>.",
+    "Carry the rounded base blue cup toward <the smooth round palm-sized coaster>, keeping the path clear of <the smooth pink plastic shampoo bottle>, then set down.",
+    "Use an arm to bring the medium-sized plastic blue cup to the grainy texture coaster, keeping the medium-sized plastic blue cup clear of the pink bottle with narrow top.",
+    "Take the medium blue cylindrical cup, route it away from the hand-sized pink shampoo container, and set the medium blue cylindrical cup onto the flat round wooden coaster.",
+    "Take the medium-sized plastic blue cup to the coaster made of smooth wood while skirting the pink shampoo bottle, then release the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Use an arm to move the cup with smooth plastic surface toward the grainy texture coaster, keeping the cup with smooth plastic surface clear of the pink shampoo container with pump top.",
+    "Take the cylindrical light blue cup, swing wide of the pink bottle with narrow top, then rest the cylindrical light blue cup on the round coaster with light streaks.",
+    "Use an arm: grab the rounded base blue cup, avoid the pink shampoo container with pump top on the way, then set the rounded base blue cup on the round coaster with light streaks.",
+    "Lift the medium-sized plastic blue cup, arc around the hand-sized pink shampoo container, and place the medium-sized plastic blue cup squarely on the smooth round palm-sized coaster.",
+    "Move the plastic cup for drinks to <the smooth round palm-sized coaster> while keeping its path away from <the smooth pink plastic shampoo bottle>.",
+    "Use an arm: pick the cylindrical light blue cup up, skirt <the plastic shampoo bottle with black pump>, then place the cylindrical light blue cup onto <the flat surface gray wooden coaster>.",
+    "Use an arm, take the medium-sized plastic blue cup past the pink shampoo container with pump top without nearing it, and rest the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Use an arm to move the rounded base blue cup to the coaster made of smooth wood, keeping the rounded base blue cup from bumping the pink shampoo container with pump top.",
+    "Take the medium-sized plastic blue cup, arc around <the plastic shampoo bottle with black pump>, and place the medium-sized plastic blue cup neatly on <the light gray streaked wooden coaster>.",
+    "Grab the cylindrical light blue cup, swing it away from <the shampoo bottle with rectangular shape>, and place the cylindrical light blue cup on <the light gray round grainy coaster>.",
+    "Use an arm to grab the medium blue cylindrical cup, avoid the shampoo bottle with rectangular shape, and set the medium blue cylindrical cup down on the grainy texture coaster.",
+    "Lift the cup for holding liquids, guide it around <the hand-sized pink shampoo container>, then put the cup for holding liquids onto <the flat surface gray wooden coaster>."
+  ],
+  "unseen": [
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with black pump, and place it on the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the plastic pink shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with black pump>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with black pump, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with black pump>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with black pump, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the plastic pink shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the plastic pink shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with black pump, and set the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the shampoo bottle with black pump, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the glossy pink shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with black pump>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the shampoo bottle with black pump, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the plastic pink shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the plastic pink shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the plastic pink shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the glossy pink shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the plastic pink shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the glossy pink shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the glossy pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the glossy pink shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the glossy pink shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the glossy pink shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the shampoo bottle with black pump>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the glossy pink shampoo bottle, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the plastic pink shampoo bottle, and place it on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the plastic pink shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with black pump>, and set the blue cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with black pump, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with black pump>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep it clear of <the glossy pink shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the glossy pink shampoo bottle, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the plastic pink shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with black pump, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the plastic pink shampoo bottle, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the glossy pink shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the plastic pink shampoo bottle>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the shampoo bottle with black pump, then set the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with black pump, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with black pump, and place it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with black pump>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the plastic pink shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with black pump, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the plastic pink shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the glossy pink shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with black pump, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with black pump, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle with black pump, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with black pump, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the plastic pink shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with black pump>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the plastic pink shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, steer it around the glossy pink shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the glossy pink shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with black pump, and place it on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with black pump>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the plastic pink shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the glossy pink shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the plastic pink shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the glossy pink shampoo bottle, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the plastic pink shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the plastic pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with black pump, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the glossy pink shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the plastic pink shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the glossy pink shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the plastic pink shampoo bottle, then set the blue cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with black pump, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the glossy pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the plastic pink shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with black pump>, and set the small smooth cup on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with black pump, then place the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with black pump>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with black pump>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with black pump, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with black pump, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the plastic pink shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with black pump, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the plastic pink shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the blue cup, guide it around <the glossy pink shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the plastic pink shampoo bottle>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the glossy pink shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the glossy pink shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with black pump, and place it on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with black pump>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the glossy pink shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode13.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2ec62a74cedfb175cb7f7ac1d483fca0bce6449
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm to take the light blue plastic cup around <the bottle with hexagonal blue cap> and place the light blue plastic cup on <the small coaster with grain texture>.",
+    "Lift the medium blue cylindrical cup, arc around the white shampoo bottle, and place the medium blue cylindrical cup squarely on the round coaster with light streaks.",
+    "With an arm, take the smooth blue cup for liquids, avoid the bottle with smooth surface, and put the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Use an arm to bring the plastic cup for drinks to the flat surface gray wooden coaster, keeping the plastic cup for drinks clear of the bottle with hexagonal blue cap.",
+    "Slide the blue rounded-bottom cup over to <the small coaster with grain texture> without passing near <the handheld shampoo container>.",
+    "With an arm, lift the rounded base blue cup, route past <the blue top shampoo bottle>, and drop the rounded base blue cup onto <the light gray streaked wooden coaster>.",
+    "Move the cup with smooth plastic surface to the round coaster while avoiding the handheld shampoo container, then place the cup with smooth plastic surface on the round coaster.",
+    "Using an arm, move the medium-sized plastic blue cup to <the wooden coaster> while avoiding <the plastic shampoo with orange label>, then release the medium-sized plastic blue cup.",
+    "Use an arm: grasp the plastic cup for drinks, avoid <the bottle with hexagonal blue cap>, and place the plastic cup for drinks on <the light gray streaked wooden coaster>.",
+    "Using an arm, pick the blue rounded-bottom cup up, skirt the white shampoo bottle, and place the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Use an arm to move the medium blue cylindrical cup toward the coaster with circular shape, keeping the medium blue cylindrical cup clear of the white shampoo bottle.",
+    "With an arm, lift the medium blue cylindrical cup, avoid <the plastic shampoo with orange label> on the way, and drop the medium blue cylindrical cup on <the round coaster>.",
+    "With an arm, bring the smooth blue drinking cup over to <the wooden coaster> and keep clear of <the handheld shampoo container>.",
+    "Carry the cup with smooth plastic surface toward <the smooth round palm-sized coaster>, keeping clear of <the white shampoo bottle>, and set the cup with smooth plastic surface down.",
+    "Take the blue rounded-bottom cup, keep its path away from the white and blue shampoo container, and place the blue rounded-bottom cup on the smooth round palm-sized coaster.",
+    "Grab the cup with smooth plastic surface, swing it away from <the plastic shampoo with orange label>, and place the cup with smooth plastic surface on <the light gray round grainy coaster>.",
+    "Use an arm to move the cup for holding liquids around the blue top shampoo bottle and rest the cup for holding liquids on the round coaster with light streaks.",
+    "Use the arm to lift the plastic cup for drinks, pass the shampoo bottle with curved sides, and place the plastic cup for drinks on the coaster made of smooth wood.",
+    "With an arm, lift the cup for holding liquids, keep it away from the shampoo bottle with curved sides, and drop it onto the light gray streaked wooden coaster.",
+    "Use the arm to carry the smooth blue drinking cup around the white shampoo bottle, then rest the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "Arm-lift the cylindrical light blue cup, swing around <the plastic shampoo with orange label>, then place the cylindrical light blue cup onto <the coaster with circular shape>.",
+    "Lift the blue rounded-bottom cup, guide it past the shampoo bottle with curved sides, and rest the blue rounded-bottom cup on the flat round wooden coaster.",
+    "Use an arm, take the cup for holding liquids past the shampoo bottle with curved sides without nearing it, and rest the cup for holding liquids on the flat round wooden coaster.",
+    "Use an arm to grab the smooth blue drinking cup, avoid the blue top shampoo bottle, and set the smooth blue drinking cup down on the smooth round palm-sized coaster.",
+    "With an arm, move the rounded base blue cup past the plastic shampoo bottle and place the rounded base blue cup on the coaster made of smooth wood.",
+    "Pick up the smooth blue drinking cup, keep its path away from <the bottle with hexagonal blue cap>, and set the smooth blue drinking cup on <the flat round wooden coaster>.",
+    "Carry the cylindrical light blue cup toward <the flat surface gray wooden coaster>, skirting <the handheld shampoo container>, and set the cylindrical light blue cup down.",
+    "Grab the plastic cup for drinks, route around the medium-sized white plastic shampoo, then lower the plastic cup for drinks onto the round coaster.",
+    "Secure the rounded base blue cup, move it around the shampoo bottle with curved sides, and place the rounded base blue cup squarely on the round coaster.",
+    "Secure the cylindrical light blue cup, keep its path away from the plastic shampoo with orange label, and set the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Move the cup for holding liquids to <the wooden coaster> while keeping its path away from <the blue top shampoo bottle>.",
+    "Lift the rounded base blue cup, pass beside <the white and blue shampoo container> without contact, then place the rounded base blue cup onto <the coaster made of smooth wood>.",
+    "Move the medium-sized plastic blue cup onto the light gray round grainy coaster while avoiding the curved shampoo bottle, then let go of the medium-sized plastic blue cup.",
+    "With an arm, lift the rounded base blue cup, avoid the white and blue shampoo container, and set the rounded base blue cup onto the small coaster with grain texture.",
+    "Take the cup with smooth plastic surface, keep its path away from the medium-sized white plastic shampoo, and drop the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Move the plastic cup for drinks onto <the coaster made of smooth wood> and ensure the path stays away from <the medium-sized white plastic shampoo>.",
+    "Take the cup for holding liquids to the round coaster with light streaks while skirting the white and blue shampoo container, then release the cup for holding liquids on the round coaster with light streaks.",
+    "Using an arm, pick the plastic cup for drinks up, skirt the shampoo bottle with curved sides, and place the plastic cup for drinks on the wooden coaster.",
+    "Lift the cup with smooth plastic surface, pass by the plastic shampoo with orange label without contact, then place the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Move the smooth blue cup for liquids toward the coaster with circular shape without passing near the blue top shampoo bottle, then set it down.",
+    "Use an arm to lift the cylindrical light blue cup, arc around the bottle with smooth surface, and place the cylindrical light blue cup atop the light gray streaked wooden coaster.",
+    "Pick up the plastic cup for drinks, route it away from the shampoo bottle with curved sides, then set the plastic cup for drinks on the round coaster with light streaks.",
+    "With an arm, pick the rounded base blue cup up, bypass <the blue top shampoo bottle>, then place the rounded base blue cup on <the flat round wooden coaster>.",
+    "Use an arm, keep the smooth blue cup for liquids from the medium-sized white plastic shampoo, and lower the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Use the arm to move the cup with smooth plastic surface past <the plastic shampoo bottle> and rest it on <the small coaster with grain texture>.",
+    "Lift the blue rounded-bottom cup, go around the white and blue shampoo container, and position the blue rounded-bottom cup squarely on the coaster with circular shape.",
+    "Using an arm, carry the medium-sized plastic blue cup past <the bottle with smooth surface> and place the medium-sized plastic blue cup squarely on <the flat round wooden coaster>.",
+    "Guide the smooth blue cup for liquids with the arm around <the plastic shampoo with orange label> and onto <the small coaster with grain texture>.",
+    "Move the cup with light blue color onto the coaster with circular shape while avoiding the plastic shampoo with orange label, then let go of the cup with light blue color.",
+    "Use an arm: take the blue rounded-bottom cup, avoid the shampoo bottle with curved sides during the move, and drop it on the round coaster.",
+    "Lift the cup with light blue color, steer away from <the white and blue shampoo container>, then place the cup with light blue color on <the flat round wooden coaster>.",
+    "Lift the smooth blue cup for liquids, route it away from the shampoo bottle with curved sides, then put the smooth blue cup for liquids squarely on the flat surface gray wooden coaster.",
+    "Lift the blue rounded-bottom cup, keep clear of the blue top shampoo bottle, and put the blue rounded-bottom cup down on the small coaster with grain texture.",
+    "Carry the cup with light blue color toward <the light gray round grainy coaster>, keeping the path clear of <the shampoo bottle with blue cap>, then set down.",
+    "Take the medium-sized plastic blue cup, guide it away from <the shampoo bottle with curved sides>, and place the medium-sized plastic blue cup squarely on <the smooth round palm-sized coaster>.",
+    "Use an arm to lift the cup for holding liquids, keep distance from <the plastic shampoo bottle>, and set the cup for holding liquids on <the small coaster with grain texture>.",
+    "Lift the plastic cup for drinks, carry it around the shampoo bottle with curved sides, and place the plastic cup for drinks squarely on the wooden coaster.",
+    "Using an arm, carry the light blue plastic cup around the plastic shampoo with orange label and place the light blue plastic cup onto the light gray streaked wooden coaster.",
+    "With an arm, lift the light blue plastic cup, guide it past the white shampoo bottle, and put the light blue plastic cup on the wooden coaster.",
+    "Pick up the cup for holding liquids, avoid the blue top shampoo bottle along the way, and place the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Take the smooth blue cup for liquids in the arm, route around <the handheld shampoo container>, and set it on <the small coaster with grain texture>.",
+    "Carry the cup with smooth plastic surface toward the coaster made of smooth wood, keeping the cup with smooth plastic surface away from the blue top shampoo bottle, then set down.",
+    "Slide the medium blue cylindrical cup toward the round coaster, detouring around the white and blue shampoo container, then set the medium blue cylindrical cup down.",
+    "Use an arm to move the rounded base blue cup to the coaster with circular shape, keeping the rounded base blue cup from bumping the handheld shampoo container.",
+    "Use an arm, take the smooth blue drinking cup, avoid <the white shampoo bottle> on the way, and set on <the flat round wooden coaster>.",
+    "Use an arm: grab the cup with smooth plastic surface, avoid the handheld shampoo container on the way, then set the cup with smooth plastic surface on the round coaster.",
+    "Pick up the plastic cup for drinks, guide it past the plastic shampoo bottle, and drop the plastic cup for drinks on the light gray round grainy coaster.",
+    "Move the smooth blue cup for liquids to the flat surface gray wooden coaster without crossing the white shampoo bottle, then release the smooth blue cup for liquids.",
+    "Take the cup for holding liquids, swing wide of the bottle with smooth surface, then rest the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Grab the cylindrical light blue cup, guide it away from the blue top shampoo bottle, and set the cylindrical light blue cup neatly on the coaster made of smooth wood.",
+    "Take the rounded base blue cup, route it away from the plastic shampoo with orange label, and set the rounded base blue cup onto the round coaster.",
+    "Pick the cup for holding liquids up, route it away from the curved shampoo bottle, and drop the cup for holding liquids onto the smooth round palm-sized coaster.",
+    "Take the cup for holding liquids, arc around <the shampoo bottle with curved sides>, and place the cup for holding liquids neatly on <the flat round wooden coaster>.",
+    "Pick up the rounded base blue cup, keep clear of <the plastic shampoo with orange label>, and drop the rounded base blue cup onto <the flat round wooden coaster>.",
+    "Move the medium-sized plastic blue cup to <the light gray streaked wooden coaster> while keeping the medium-sized plastic blue cup away from <the plastic shampoo with orange label>, then release.",
+    "Using an arm, grasp the medium blue cylindrical cup, skirt the bottle with hexagonal blue cap, and place the medium blue cylindrical cup atop the flat round wooden coaster.",
+    "Use an arm, pick the cup with smooth plastic surface up, pass around the bottle with smooth surface, then place the cup with smooth plastic surface on the flat round wooden coaster.",
+    "With an arm, lift the medium blue cylindrical cup, avoid the white shampoo bottle, and place the medium blue cylindrical cup on the flat round wooden coaster.",
+    "Use an arm: pick the blue rounded-bottom cup up, skirt <the bottle with smooth surface>, then place the blue rounded-bottom cup onto <the grainy texture coaster>.",
+    "Lift the medium blue cylindrical cup, guide it around <the white shampoo bottle>, then put the medium blue cylindrical cup onto <the wooden coaster>.",
+    "Use an arm to take the medium-sized plastic blue cup around <the shampoo bottle with blue cap> and place the medium-sized plastic blue cup on <the light gray streaked wooden coaster>.",
+    "Lift the cup for holding liquids, arc around the plastic shampoo with orange label, and place the cup for holding liquids squarely on the wooden coaster.",
+    "With an arm, take the medium-sized plastic blue cup, avoid the curved shampoo bottle, and put the medium-sized plastic blue cup on the coaster with circular shape.",
+    "Use an arm to bring the smooth blue drinking cup to the round coaster with light streaks, keeping the smooth blue drinking cup clear of the white and blue shampoo container.",
+    "Slide the cup for holding liquids over to <the small coaster with grain texture> without passing near <the curved shampoo bottle>.",
+    "With an arm, lift the light blue plastic cup, route past <the bottle with hexagonal blue cap>, and drop the light blue plastic cup onto <the smooth round palm-sized coaster>.",
+    "Move the medium-sized plastic blue cup to the round coaster with light streaks while avoiding the blue top shampoo bottle, then place the medium-sized plastic blue cup on the round coaster with light streaks.",
+    "Using an arm, move the light blue plastic cup to <the coaster with circular shape> while avoiding <the handheld shampoo container>, then release the light blue plastic cup.",
+    "Use an arm: grasp the smooth blue drinking cup, avoid <the white shampoo bottle>, and place the smooth blue drinking cup on <the flat round wooden coaster>.",
+    "Using an arm, pick the light blue plastic cup up, skirt the handheld shampoo container, and place the light blue plastic cup on the wooden coaster.",
+    "Use an arm to move the plastic cup for drinks toward the small coaster with grain texture, keeping the plastic cup for drinks clear of the white and blue shampoo container.",
+    "With an arm, lift the cylindrical light blue cup, avoid <the bottle with hexagonal blue cap> on the way, and drop the cylindrical light blue cup on <the smooth round palm-sized coaster>.",
+    "With an arm, bring the cup with smooth plastic surface over to <the smooth round palm-sized coaster> and keep clear of <the plastic shampoo with orange label>.",
+    "Carry the cylindrical light blue cup toward <the coaster with circular shape>, keeping clear of <the plastic shampoo bottle>, and set the cylindrical light blue cup down.",
+    "Take the medium-sized plastic blue cup, keep its path away from the shampoo bottle with blue cap, and place the medium-sized plastic blue cup on the light gray round grainy coaster.",
+    "Grab the medium blue cylindrical cup, swing it away from <the medium-sized white plastic shampoo>, and place the medium blue cylindrical cup on <the wooden coaster>.",
+    "Use an arm to move the smooth blue drinking cup around the bottle with hexagonal blue cap and rest the smooth blue drinking cup on the round coaster.",
+    "Use the arm to lift the smooth blue drinking cup, pass the bottle with hexagonal blue cap, and place the smooth blue drinking cup on the smooth round palm-sized coaster.",
+    "With an arm, lift the cup with smooth plastic surface, keep it away from the shampoo bottle with blue cap, and drop it onto the light gray round grainy coaster.",
+    "Use the arm to carry the plastic cup for drinks around the plastic shampoo with orange label, then rest the plastic cup for drinks on the coaster with circular shape."
+  ],
+  "unseen": [
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the white shampoo with orange design>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the white shampoo with orange design, and set it on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the white shampoo with orange design>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container in white and blue>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the white shampoo with orange design>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the white shampoo with orange design, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the blue-capped shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the blue-capped shampoo bottle, and place it on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container in white and blue>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the white shampoo with orange design, then set the small smooth cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the white shampoo with orange design>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the blue-capped shampoo bottle, and set it on the light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo container in white and blue>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the white shampoo with orange design>, and set the small smooth cup on <the light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the white shampoo with orange design>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the blue-capped shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the blue-capped shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container in white and blue, and place it on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the white shampoo with orange design, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the blue-capped shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the blue-capped shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container in white and blue, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container in white and blue>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the blue-capped shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo container in white and blue, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the blue-capped shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container in white and blue, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container in white and blue, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the white shampoo with orange design>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo container in white and blue, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the blue-capped shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo container in white and blue>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container in white and blue>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the blue-capped shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the blue-capped shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container in white and blue, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container in white and blue, and place it on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the white shampoo with orange design, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container in white and blue>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the blue-capped shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the white shampoo with orange design>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo container in white and blue, and set it on the light gray coaster.",
+    "Grab the blue cup, route it around <the white shampoo with orange design>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container in white and blue>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container in white and blue>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the blue-capped shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the white shampoo with orange design, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the blue-capped shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the white shampoo with orange design, and place it on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container in white and blue>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the blue-capped shampoo bottle, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the white shampoo with orange design>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the white shampoo with orange design, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the white shampoo with orange design>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo container in white and blue>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the white shampoo with orange design, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container in white and blue, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the white shampoo with orange design, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the white shampoo with orange design, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container in white and blue>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the white shampoo with orange design, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo container in white and blue>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo container in white and blue, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the blue-capped shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode14.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cf19cba9521f9dd361603dfcffd4d79f98a0df6
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the blue rounded-bottom cup, pass beside <the pink-topped shampoo bottle> without contact, then place the blue rounded-bottom cup onto <the light gray round grainy coaster>.",
+    "Lift the smooth blue cup for liquids, keep clear of the medium shampoo bottle, and put the smooth blue cup for liquids down on the light gray streaked wooden coaster.",
+    "Lift the medium-sized plastic blue cup, arc around the medium oval plastic shampoo container, and place the medium-sized plastic blue cup squarely on the round coaster.",
+    "With an arm, lift the cup for holding liquids, guide it past the shampoo bottle with pink cap, and put the cup for holding liquids on the light gray round grainy coaster.",
+    "Take the cup with smooth plastic surface, arc around <the plastic shampoo container>, and place the cup with smooth plastic surface neatly on <the grainy texture coaster>.",
+    "With an arm, pick the cylindrical light blue cup up, bypass <the medium oval plastic shampoo container>, then place the cylindrical light blue cup on <the light gray round grainy coaster>.",
+    "Move the rounded base blue cup onto <the round coaster> and ensure the path stays away from <the shampoo dispenser with flat base>.",
+    "Use an arm to lift the cup for holding liquids, arc around the oval-shaped shampoo bottle, and place the cup for holding liquids atop the flat surface gray wooden coaster.",
+    "Use an arm to bring the light blue plastic cup to the round coaster, keeping the light blue plastic cup clear of the shampoo dispenser with flat base.",
+    "Using an arm, pick the light blue plastic cup up, skirt the smooth white shampoo dispenser, and place the light blue plastic cup on the round coaster with light streaks.",
+    "Use an arm: grasp the smooth blue cup for liquids, avoid <the smooth white shampoo dispenser>, and place the smooth blue cup for liquids on <the coaster with circular shape>.",
+    "Move the plastic cup for drinks toward the round coaster without passing near the shampoo dispenser with flat base, then set it down.",
+    "Use an arm, keep the cup with smooth plastic surface from the shampoo bottle with pink cap, and lower the cup with smooth plastic surface onto the smooth round palm-sized coaster.",
+    "Using an arm, pick the light blue plastic cup up, skirt the glossy white shampoo bottle, and place the light blue plastic cup on the light gray streaked wooden coaster.",
+    "With an arm, bring the plastic cup for drinks over to <the coaster made of smooth wood> and keep clear of <the plastic shampoo container>.",
+    "Take the smooth blue cup for liquids, route it away from the medium shampoo bottle, and set the smooth blue cup for liquids onto the grainy texture coaster.",
+    "Slide the cup for holding liquids toward the flat surface gray wooden coaster, detouring around the shampoo dispenser with flat base, then set the cup for holding liquids down.",
+    "Pick up the cup with light blue color, guide it past the shampoo bottle with pink cap, and drop the cup with light blue color on the coaster with circular shape.",
+    "Lift the light blue plastic cup, carry it around the pink-topped shampoo bottle, and place the light blue plastic cup squarely on the flat surface gray wooden coaster.",
+    "Take the cup with light blue color to the coaster with circular shape while skirting the shampoo bottle with pink cap, then release the cup with light blue color on the coaster with circular shape.",
+    "Slide the rounded base blue cup over to <the light gray streaked wooden coaster> without passing near <the medium oval plastic shampoo container>.",
+    "Move the smooth blue cup for liquids to <the small coaster with grain texture> while keeping the smooth blue cup for liquids away from <the glossy white shampoo bottle>, then release.",
+    "Lift the rounded base blue cup, guide it around <the hand-sized shampoo bottle>, then put the rounded base blue cup onto <the coaster with circular shape>.",
+    "With an arm, move the smooth blue cup for liquids past the white body pink flip cap bottle and place the smooth blue cup for liquids on the small coaster with grain texture.",
+    "With an arm, lift the medium blue cylindrical cup, avoid <the hand-sized shampoo bottle> on the way, and drop the medium blue cylindrical cup on <the flat round wooden coaster>.",
+    "Use the arm to lift the rounded base blue cup, pass the plastic shampoo container, and place the rounded base blue cup on the coaster made of smooth wood.",
+    "Pick up the cup for holding liquids, keep clear of <the white body pink flip cap bottle>, and drop the cup for holding liquids onto <the wooden coaster>.",
+    "Move the rounded base blue cup onto the light gray round grainy coaster while avoiding the plastic shampoo container, then let go of the rounded base blue cup.",
+    "Using an arm, grasp the smooth blue cup for liquids, skirt the smooth white shampoo dispenser, and place the smooth blue cup for liquids atop the flat round wooden coaster.",
+    "Using an arm, move the medium-sized plastic blue cup to <the flat round wooden coaster> while avoiding <the shampoo bottle with pink cap>, then release the medium-sized plastic blue cup.",
+    "Arm-lift the plastic cup for drinks, swing around <the white body pink flip cap bottle>, then place the plastic cup for drinks onto <the flat round wooden coaster>.",
+    "Pick the smooth blue cup for liquids up, route it away from the white body pink flip cap bottle, and drop the smooth blue cup for liquids onto the small coaster with grain texture.",
+    "With an arm, lift the plastic cup for drinks, avoid the shampoo bottle with pink cap, and place the plastic cup for drinks on the light gray round grainy coaster.",
+    "Lift the plastic cup for drinks, go around the smooth white shampoo dispenser, and position the plastic cup for drinks squarely on the grainy texture coaster.",
+    "Use the arm to carry the plastic cup for drinks around the plastic shampoo container, then rest the plastic cup for drinks on the coaster made of smooth wood.",
+    "Take the blue rounded-bottom cup, keep its path away from the glossy white shampoo bottle, and place the blue rounded-bottom cup on the small coaster with grain texture.",
+    "Use an arm, take the smooth blue cup for liquids past the shampoo bottle with pink cap without nearing it, and rest the smooth blue cup for liquids on the wooden coaster.",
+    "Carry the rounded base blue cup toward <the smooth round palm-sized coaster>, keeping the path clear of <the smooth white shampoo dispenser>, then set down.",
+    "Use an arm to take the medium blue cylindrical cup around <the white shampoo bottle> and place the medium blue cylindrical cup on <the round coaster with light streaks>.",
+    "Use an arm: grab the cup for holding liquids, avoid the hand-sized shampoo bottle on the way, then set the cup for holding liquids on the small coaster with grain texture.",
+    "Guide the cup with smooth plastic surface with the arm around <the medium oval plastic shampoo container> and onto <the smooth round palm-sized coaster>.",
+    "Secure the rounded base blue cup, move it around the medium shampoo bottle, and place the rounded base blue cup squarely on the round coaster.",
+    "Carry the cup with light blue color toward the small coaster with grain texture, keeping the cup with light blue color away from the hand-sized shampoo bottle, then set down.",
+    "With an arm, lift the medium-sized plastic blue cup, route past <the shampoo bottle with pink cap>, and drop the medium-sized plastic blue cup onto <the wooden coaster>.",
+    "Move the cup with smooth plastic surface to the flat round wooden coaster without crossing the white shampoo bottle, then release the cup with smooth plastic surface.",
+    "Use an arm, take the cup for holding liquids, avoid <the white body pink flip cap bottle> on the way, and set on <the coaster with circular shape>.",
+    "Use an arm: pick the rounded base blue cup up, skirt <the glossy white shampoo bottle>, then place the rounded base blue cup onto <the coaster with circular shape>.",
+    "Move the cup for holding liquids to the light gray streaked wooden coaster while avoiding the glossy white shampoo bottle, then place the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Use the arm to move the cup with smooth plastic surface past <the shampoo bottle with pink cap> and rest it on <the light gray round grainy coaster>.",
+    "Take the smooth blue cup for liquids in the arm, route around <the shampoo dispenser with flat base>, and set it on <the round coaster>.",
+    "Grab the light blue plastic cup, guide it away from the glossy white shampoo bottle, and set the light blue plastic cup neatly on the grainy texture coaster.",
+    "Carry the blue rounded-bottom cup toward <the smooth round palm-sized coaster>, keeping clear of <the medium shampoo bottle>, and set the blue rounded-bottom cup down.",
+    "Using an arm, carry the cup with smooth plastic surface around the medium oval plastic shampoo container and place the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Using an arm, carry the cup with smooth plastic surface past <the white shampoo bottle> and place the cup with smooth plastic surface squarely on <the light gray streaked wooden coaster>.",
+    "Pick up the cup with light blue color, avoid the shampoo bottle with pink cap along the way, and place the cup with light blue color on the flat round wooden coaster.",
+    "With an arm, lift the medium-sized plastic blue cup, keep it away from the white shampoo bottle, and drop it onto the grainy texture coaster.",
+    "Use an arm to lift the medium blue cylindrical cup, keep distance from <the pink-topped shampoo bottle>, and set the medium blue cylindrical cup on <the round coaster>.",
+    "Pick up the rounded base blue cup, keep its path away from <the medium oval plastic shampoo container>, and set the rounded base blue cup on <the wooden coaster>.",
+    "Use an arm to move the medium blue cylindrical cup toward the smooth round palm-sized coaster, keeping the medium blue cylindrical cup clear of the medium oval plastic shampoo container.",
+    "Grab the rounded base blue cup, route around the white body pink flip cap bottle, then lower the rounded base blue cup onto the smooth round palm-sized coaster.",
+    "With an arm, lift the cup with light blue color, avoid the white body pink flip cap bottle, and set the cup with light blue color onto the small coaster with grain texture.",
+    "Use an arm: take the smooth blue drinking cup, avoid the shampoo dispenser with flat base during the move, and drop it on the coaster made of smooth wood.",
+    "Move the smooth blue drinking cup onto the grainy texture coaster while avoiding the shampoo dispenser with flat base, then let go of the smooth blue drinking cup.",
+    "Lift the plastic cup for drinks, steer away from <the medium oval plastic shampoo container>, then place the plastic cup for drinks on <the flat surface gray wooden coaster>.",
+    "Take the cup with light blue color, keep its path away from the hand-sized shampoo bottle, and drop the cup with light blue color on the grainy texture coaster.",
+    "Use an arm to move the cup with smooth plastic surface to the round coaster, keeping the cup with smooth plastic surface from bumping the white shampoo bottle.",
+    "Take the medium-sized plastic blue cup, guide it away from <the shampoo bottle with pink cap>, and place the medium-sized plastic blue cup squarely on <the grainy texture coaster>.",
+    "Lift the plastic cup for drinks, route it away from the shampoo dispenser with flat base, then put the plastic cup for drinks squarely on the light gray streaked wooden coaster.",
+    "Pick up the medium-sized plastic blue cup, route it away from the smooth white shampoo dispenser, then set the medium-sized plastic blue cup on the light gray round grainy coaster.",
+    "Secure the plastic cup for drinks, keep its path away from the oval-shaped shampoo bottle, and set the plastic cup for drinks on the wooden coaster.",
+    "Carry the cylindrical light blue cup toward <the flat round wooden coaster>, skirting <the oval-shaped shampoo bottle>, and set the cylindrical light blue cup down.",
+    "Use an arm to move the cup with smooth plastic surface around the plastic shampoo container and rest the cup with smooth plastic surface on the round coaster with light streaks.",
+    "Move the cup for holding liquids to <the round coaster with light streaks> while keeping its path away from <the medium oval plastic shampoo container>.",
+    "Grab the medium blue cylindrical cup, swing it away from <the white shampoo bottle>, and place the medium blue cylindrical cup on <the grainy texture coaster>.",
+    "Use an arm to grab the medium-sized plastic blue cup, avoid the medium oval plastic shampoo container, and set the medium-sized plastic blue cup down on the flat round wooden coaster.",
+    "Lift the medium blue cylindrical cup, guide it past the medium shampoo bottle, and rest the medium blue cylindrical cup on the small coaster with grain texture.",
+    "With an arm, take the cup for holding liquids, avoid the smooth white shampoo dispenser, and put the cup for holding liquids on the grainy texture coaster.",
+    "Lift the smooth blue cup for liquids, pass by the medium oval plastic shampoo container without contact, then place the smooth blue cup for liquids on the round coaster.",
+    "Take the medium blue cylindrical cup, swing wide of the shampoo dispenser with flat base, then rest the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Use an arm, pick the medium blue cylindrical cup up, pass around the medium shampoo bottle, then place the medium blue cylindrical cup on the grainy texture coaster.",
+    "Lift the plastic cup for drinks, pass beside <the shampoo dispenser with flat base> without contact, then place the plastic cup for drinks onto <the round coaster>.",
+    "Lift the smooth blue cup for liquids, keep clear of the oval-shaped shampoo bottle, and put the smooth blue cup for liquids down on the grainy texture coaster.",
+    "Lift the light blue plastic cup, arc around the medium oval plastic shampoo container, and place the light blue plastic cup squarely on the grainy texture coaster.",
+    "With an arm, lift the blue rounded-bottom cup, guide it past the glossy white shampoo bottle, and put the blue rounded-bottom cup on the round coaster.",
+    "Take the smooth blue drinking cup, arc around <the pink-topped shampoo bottle>, and place the smooth blue drinking cup neatly on <the light gray round grainy coaster>.",
+    "With an arm, pick the plastic cup for drinks up, bypass <the oval-shaped shampoo bottle>, then place the plastic cup for drinks on <the coaster made of smooth wood>.",
+    "Move the cylindrical light blue cup onto <the flat round wooden coaster> and ensure the path stays away from <the shampoo bottle with pink cap>.",
+    "Use an arm to lift the cup for holding liquids, arc around the pink-topped shampoo bottle, and place the cup for holding liquids atop the light gray streaked wooden coaster.",
+    "Use an arm to bring the cylindrical light blue cup to the grainy texture coaster, keeping the cylindrical light blue cup clear of the shampoo dispenser with flat base.",
+    "Using an arm, pick the blue rounded-bottom cup up, skirt the white body pink flip cap bottle, and place the blue rounded-bottom cup on the wooden coaster.",
+    "Use an arm: grasp the rounded base blue cup, avoid <the medium oval plastic shampoo container>, and place the rounded base blue cup on <the light gray round grainy coaster>.",
+    "Move the cup for holding liquids toward the round coaster with light streaks without passing near the shampoo bottle with pink cap, then set it down.",
+    "Use an arm, keep the blue rounded-bottom cup from the smooth white shampoo dispenser, and lower the blue rounded-bottom cup onto the flat surface gray wooden coaster.",
+    "Using an arm, pick the smooth blue cup for liquids up, skirt the white body pink flip cap bottle, and place the smooth blue cup for liquids on the light gray streaked wooden coaster.",
+    "With an arm, bring the smooth blue cup for liquids over to <the coaster made of smooth wood> and keep clear of <the shampoo bottle with pink cap>.",
+    "Take the plastic cup for drinks, route it away from the medium shampoo bottle, and set the plastic cup for drinks onto the flat surface gray wooden coaster.",
+    "Slide the smooth blue cup for liquids toward the flat surface gray wooden coaster, detouring around the pink-topped shampoo bottle, then set the smooth blue cup for liquids down.",
+    "Pick up the medium blue cylindrical cup, guide it past the medium shampoo bottle, and drop the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Lift the plastic cup for drinks, carry it around the plastic shampoo container, and place the plastic cup for drinks squarely on the small coaster with grain texture.",
+    "Take the medium blue cylindrical cup to the grainy texture coaster while skirting the glossy white shampoo bottle, then release the medium blue cylindrical cup on the grainy texture coaster."
+  ],
+  "unseen": [
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with Dove logo>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the Dove shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the bottle for holding shampoo, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the Dove shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the bottle for holding shampoo, and set the blue cup on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the Dove shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the bottle for holding shampoo, then set the blue cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the Dove shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the Dove shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the bottle for holding shampoo>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the Dove shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the Dove shampoo bottle, and set it on the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the Dove shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the bottle for holding shampoo, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with Dove logo, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the bottle for holding shampoo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the bottle for holding shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with Dove logo, and set the small smooth cup on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the bottle for holding shampoo>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the shampoo bottle with Dove logo, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the bottle for holding shampoo, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the bottle for holding shampoo>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the bottle for holding shampoo>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, route it around <the shampoo bottle with Dove logo>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the bottle for holding shampoo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the shampoo bottle with Dove logo, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the Dove shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with Dove logo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the Dove shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with Dove logo, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the Dove shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with Dove logo>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the bottle for holding shampoo, then set the handheld round blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep clear of the Dove shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with Dove logo>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the Dove shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the bottle for holding shampoo>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the bottle for holding shampoo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the Dove shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle with Dove logo, and set it on the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the Dove shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the Dove shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the bottle for holding shampoo, and place it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the bottle for holding shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the bottle for holding shampoo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the Dove shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the bottle for holding shampoo, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the Dove shampoo bottle>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the bottle for holding shampoo>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the Dove shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the bottle for holding shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the bottle for holding shampoo, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the bottle for holding shampoo, and set it on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the Dove shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the bottle for holding shampoo, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the bottle for holding shampoo, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with Dove logo, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the bottle for holding shampoo, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the bottle for holding shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the bottle for holding shampoo>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the Dove shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the bottle for holding shampoo, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the Dove shampoo bottle>, and place the small smooth cup on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with Dove logo>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with Dove logo>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the bottle for holding shampoo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the Dove shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the Dove shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the bottle for holding shampoo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with Dove logo, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the Dove shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with Dove logo, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the bottle for holding shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the bottle for holding shampoo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with Dove logo>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the bottle for holding shampoo, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the Dove shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with Dove logo>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the Dove shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the bottle for holding shampoo, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the bottle for holding shampoo, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with Dove logo, and set it on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the Dove shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the Dove shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the bottle for holding shampoo, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode15.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..056cec3817ab19f88dc300a6af4e94b48e94b1cd
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the cup with smooth plastic surface, carry it around the shampoo bottle with blue cap, and place the cup with smooth plastic surface squarely on the light gray round grainy coaster.",
+    "Carry the cup with smooth plastic surface toward <the grainy texture coaster>, keeping the path clear of <the curved shampoo bottle>, then set down.",
+    "Grab the cylindrical light blue cup, route around the bottle with hexagonal blue cap, then lower the cylindrical light blue cup onto the light gray streaked wooden coaster.",
+    "With an arm, move the medium blue cylindrical cup past the plastic shampoo bottle and place the medium blue cylindrical cup on the grainy texture coaster.",
+    "With an arm, pick the medium-sized plastic blue cup up, bypass <the plastic shampoo with orange label>, then place the medium-sized plastic blue cup on <the smooth round palm-sized coaster>.",
+    "Use an arm: pick the light blue plastic cup up, skirt <the blue top shampoo bottle>, then place the light blue plastic cup onto <the light gray streaked wooden coaster>.",
+    "Guide the smooth blue drinking cup with the arm around <the bottle with hexagonal blue cap> and onto <the flat surface gray wooden coaster>.",
+    "Secure the medium-sized plastic blue cup, keep its path away from the shampoo bottle with curved sides, and set the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "Move the cup with light blue color to the round coaster with light streaks without crossing the shampoo bottle with curved sides, then release the cup with light blue color.",
+    "Use an arm: grab the smooth blue cup for liquids, avoid the shampoo bottle with curved sides on the way, then set the smooth blue cup for liquids on the coaster with circular shape.",
+    "Move the cylindrical light blue cup to the round coaster with light streaks while avoiding the blue top shampoo bottle, then place the cylindrical light blue cup on the round coaster with light streaks.",
+    "Pick up the smooth blue drinking cup, keep its path away from <the bottle with hexagonal blue cap>, and set the smooth blue drinking cup on <the round coaster with light streaks>.",
+    "Pick up the rounded base blue cup, avoid the bottle with smooth surface along the way, and place the rounded base blue cup on the smooth round palm-sized coaster.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the bottle with hexagonal blue cap, and place the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "With an arm, bring the cylindrical light blue cup over to <the light gray streaked wooden coaster> and keep clear of <the white and blue shampoo container>.",
+    "Use an arm to move the cup with smooth plastic surface toward the coaster made of smooth wood, keeping the cup with smooth plastic surface clear of the bottle with hexagonal blue cap.",
+    "Take the cup with smooth plastic surface, swing wide of the bottle with hexagonal blue cap, then rest the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Grab the light blue plastic cup, swing it away from <the plastic shampoo bottle>, and place the light blue plastic cup on <the flat round wooden coaster>.",
+    "Move the cup for holding liquids toward the wooden coaster without passing near the shampoo bottle with curved sides, then set it down.",
+    "Use an arm, pick the plastic cup for drinks up, pass around the shampoo bottle with blue cap, then place the plastic cup for drinks on the wooden coaster.",
+    "Use the arm to lift the cup with light blue color, pass the shampoo bottle with curved sides, and place the cup with light blue color on the round coaster with light streaks.",
+    "Lift the cylindrical light blue cup, pass beside <the bottle with hexagonal blue cap> without contact, then place the cylindrical light blue cup onto <the round coaster>.",
+    "Move the plastic cup for drinks onto the round coaster while avoiding the handheld shampoo container, then let go of the plastic cup for drinks.",
+    "Lift the smooth blue drinking cup, go around the shampoo bottle with blue cap, and position the smooth blue drinking cup squarely on the flat round wooden coaster.",
+    "With an arm, lift the medium-sized plastic blue cup, keep it away from the bottle with hexagonal blue cap, and drop it onto the smooth round palm-sized coaster.",
+    "Take the cup with smooth plastic surface, route it away from the shampoo bottle with curved sides, and set the cup with smooth plastic surface onto the grainy texture coaster.",
+    "Pick up the rounded base blue cup, route it away from the plastic shampoo bottle, then set the rounded base blue cup on the round coaster.",
+    "Use the arm to carry the cup with smooth plastic surface around the bottle with hexagonal blue cap, then rest the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Take the blue rounded-bottom cup, arc around <the white shampoo bottle>, and place the blue rounded-bottom cup neatly on <the coaster with circular shape>.",
+    "Take the plastic cup for drinks, keep its path away from the shampoo bottle with blue cap, and place the plastic cup for drinks on the grainy texture coaster.",
+    "Carry the cup with light blue color toward <the light gray round grainy coaster>, keeping clear of <the white and blue shampoo container>, and set the cup with light blue color down.",
+    "Lift the smooth blue cup for liquids, guide it past the bottle with hexagonal blue cap, and rest the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Use the arm to move the smooth blue cup for liquids past <the bottle with smooth surface> and rest it on <the flat surface gray wooden coaster>.",
+    "Using an arm, move the medium-sized plastic blue cup to <the light gray streaked wooden coaster> while avoiding <the curved shampoo bottle>, then release the medium-sized plastic blue cup.",
+    "Move the blue rounded-bottom cup to <the flat round wooden coaster> while keeping the blue rounded-bottom cup away from <the white and blue shampoo container>, then release.",
+    "Slide the rounded base blue cup toward the round coaster with light streaks, detouring around the curved shampoo bottle, then set the rounded base blue cup down.",
+    "Use an arm, take the cup with smooth plastic surface past the handheld shampoo container without nearing it, and rest the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Use an arm: grasp the cylindrical light blue cup, avoid <the plastic shampoo bottle>, and place the cylindrical light blue cup on <the coaster with circular shape>.",
+    "Pick up the rounded base blue cup, keep clear of <the handheld shampoo container>, and drop the rounded base blue cup onto <the small coaster with grain texture>.",
+    "With an arm, lift the cup with light blue color, avoid <the shampoo bottle with blue cap> on the way, and drop the cup with light blue color on <the coaster made of smooth wood>.",
+    "Lift the cup with smooth plastic surface, keep clear of the bottle with hexagonal blue cap, and put the cup with smooth plastic surface down on the light gray round grainy coaster.",
+    "With an arm, take the cup with light blue color, avoid the white and blue shampoo container, and put the cup with light blue color on the smooth round palm-sized coaster.",
+    "Take the blue rounded-bottom cup in the arm, route around <the shampoo bottle with blue cap>, and set it on <the light gray round grainy coaster>.",
+    "Pick the blue rounded-bottom cup up, route it away from the bottle with smooth surface, and drop the blue rounded-bottom cup onto the small coaster with grain texture.",
+    "Arm-lift the cup with smooth plastic surface, swing around <the plastic shampoo bottle>, then place the cup with smooth plastic surface onto <the flat surface gray wooden coaster>.",
+    "Use an arm to bring the smooth blue cup for liquids to the small coaster with grain texture, keeping the smooth blue cup for liquids clear of the bottle with hexagonal blue cap.",
+    "Using an arm, pick the smooth blue drinking cup up, skirt the bottle with smooth surface, and place the smooth blue drinking cup on the light gray round grainy coaster.",
+    "Secure the smooth blue cup for liquids, move it around the bottle with smooth surface, and place the smooth blue cup for liquids squarely on the round coaster.",
+    "Move the medium blue cylindrical cup onto <the coaster with circular shape> and ensure the path stays away from <the plastic shampoo with orange label>.",
+    "Grab the plastic cup for drinks, guide it away from the shampoo bottle with curved sides, and set the plastic cup for drinks neatly on the small coaster with grain texture.",
+    "Lift the rounded base blue cup, pass by the bottle with smooth surface without contact, then place the rounded base blue cup on the light gray round grainy coaster.",
+    "Use an arm: take the blue rounded-bottom cup, avoid the medium-sized white plastic shampoo during the move, and drop it on the grainy texture coaster.",
+    "Using an arm, carry the medium-sized plastic blue cup around the white and blue shampoo container and place the medium-sized plastic blue cup onto the coaster with circular shape.",
+    "Take the cup with smooth plastic surface, guide it away from <the bottle with hexagonal blue cap>, and place the cup with smooth plastic surface squarely on <the light gray round grainy coaster>.",
+    "Lift the smooth blue cup for liquids, guide it around <the shampoo bottle with blue cap>, then put the smooth blue cup for liquids onto <the light gray round grainy coaster>.",
+    "Carry the smooth blue drinking cup toward <the round coaster with light streaks>, skirting <the handheld shampoo container>, and set the smooth blue drinking cup down.",
+    "Move the cup with smooth plastic surface to <the small coaster with grain texture> while keeping its path away from <the shampoo bottle with blue cap>.",
+    "Take the cup with smooth plastic surface to the flat round wooden coaster while skirting the shampoo bottle with curved sides, then release the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Take the medium blue cylindrical cup, keep its path away from the plastic shampoo bottle, and drop the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Use an arm, keep the blue rounded-bottom cup from the blue top shampoo bottle, and lower the blue rounded-bottom cup onto the light gray round grainy coaster.",
+    "With an arm, lift the smooth blue cup for liquids, guide it past the blue top shampoo bottle, and put the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the handheld shampoo container, and set the cup with smooth plastic surface onto the light gray round grainy coaster.",
+    "Using an arm, grasp the cup with light blue color, skirt the bottle with hexagonal blue cap, and place the cup with light blue color atop the flat surface gray wooden coaster.",
+    "Carry the blue rounded-bottom cup toward the wooden coaster, keeping the blue rounded-bottom cup away from the shampoo bottle with curved sides, then set down.",
+    "Lift the blue rounded-bottom cup, arc around the blue top shampoo bottle, and place the blue rounded-bottom cup squarely on the light gray round grainy coaster.",
+    "Using an arm, carry the medium-sized plastic blue cup past <the plastic shampoo with orange label> and place the medium-sized plastic blue cup squarely on <the light gray streaked wooden coaster>.",
+    "Use an arm, take the cylindrical light blue cup, avoid <the shampoo bottle with curved sides> on the way, and set on <the smooth round palm-sized coaster>.",
+    "Use an arm to grab the cylindrical light blue cup, avoid the white and blue shampoo container, and set the cylindrical light blue cup down on the wooden coaster.",
+    "Use an arm to move the medium-sized plastic blue cup to the light gray round grainy coaster, keeping the medium-sized plastic blue cup from bumping the white and blue shampoo container.",
+    "Use an arm to lift the plastic cup for drinks, keep distance from <the plastic shampoo with orange label>, and set the plastic cup for drinks on <the round coaster>.",
+    "Move the cup with smooth plastic surface onto the flat round wooden coaster while avoiding the shampoo bottle with curved sides, then let go of the cup with smooth plastic surface.",
+    "Lift the medium blue cylindrical cup, route it away from the white and blue shampoo container, then put the medium blue cylindrical cup squarely on the flat round wooden coaster.",
+    "Slide the rounded base blue cup over to <the wooden coaster> without passing near <the curved shampoo bottle>.",
+    "Use an arm to take the blue rounded-bottom cup around <the medium-sized white plastic shampoo> and place the blue rounded-bottom cup on <the light gray streaked wooden coaster>.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the bottle with smooth surface, and place the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "With an arm, lift the cylindrical light blue cup, route past <the blue top shampoo bottle>, and drop the cylindrical light blue cup onto <the wooden coaster>.",
+    "Pick up the cup with light blue color, guide it past the handheld shampoo container, and drop the cup with light blue color on the light gray streaked wooden coaster.",
+    "Use an arm to move the cup with smooth plastic surface around the white shampoo bottle and rest the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Use an arm to lift the cup with smooth plastic surface, arc around the shampoo bottle with blue cap, and place the cup with smooth plastic surface atop the smooth round palm-sized coaster.",
+    "Lift the cup with light blue color, steer away from <the bottle with smooth surface>, then place the cup with light blue color on <the smooth round palm-sized coaster>.",
+    "Lift the smooth blue drinking cup, carry it around the plastic shampoo with orange label, and place the smooth blue drinking cup squarely on the round coaster.",
+    "Carry the medium blue cylindrical cup toward <the flat round wooden coaster>, keeping the path clear of <the shampoo bottle with curved sides>, then set down.",
+    "Grab the medium blue cylindrical cup, route around the blue top shampoo bottle, then lower the medium blue cylindrical cup onto the smooth round palm-sized coaster.",
+    "With an arm, move the medium blue cylindrical cup past the handheld shampoo container and place the medium blue cylindrical cup on the flat round wooden coaster.",
+    "With an arm, pick the light blue plastic cup up, bypass <the bottle with smooth surface>, then place the light blue plastic cup on <the light gray round grainy coaster>.",
+    "Use an arm: pick the cylindrical light blue cup up, skirt <the curved shampoo bottle>, then place the cylindrical light blue cup onto <the coaster made of smooth wood>.",
+    "Guide the plastic cup for drinks with the arm around <the shampoo bottle with blue cap> and onto <the round coaster>.",
+    "Secure the medium-sized plastic blue cup, keep its path away from the medium-sized white plastic shampoo, and set the medium-sized plastic blue cup on the flat surface gray wooden coaster.",
+    "Move the smooth blue drinking cup to the wooden coaster without crossing the curved shampoo bottle, then release the smooth blue drinking cup.",
+    "Use an arm: grab the smooth blue drinking cup, avoid the medium-sized white plastic shampoo on the way, then set the smooth blue drinking cup on the flat round wooden coaster.",
+    "Move the smooth blue cup for liquids to the coaster with circular shape while avoiding the blue top shampoo bottle, then place the smooth blue cup for liquids on the coaster with circular shape.",
+    "Pick up the cup with smooth plastic surface, keep its path away from <the bottle with smooth surface>, and set the cup with smooth plastic surface on <the wooden coaster>.",
+    "Pick up the cup with smooth plastic surface, avoid the bottle with smooth surface along the way, and place the cup with smooth plastic surface on the flat round wooden coaster.",
+    "With an arm, lift the plastic cup for drinks, avoid the handheld shampoo container, and place the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "With an arm, bring the blue rounded-bottom cup over to <the light gray streaked wooden coaster> and keep clear of <the medium-sized white plastic shampoo>.",
+    "Use an arm to move the light blue plastic cup toward the wooden coaster, keeping the light blue plastic cup clear of the white and blue shampoo container.",
+    "Take the smooth blue drinking cup, swing wide of the curved shampoo bottle, then rest the smooth blue drinking cup on the coaster made of smooth wood.",
+    "Grab the cylindrical light blue cup, swing it away from <the white shampoo bottle>, and place the cylindrical light blue cup on <the smooth round palm-sized coaster>.",
+    "Move the medium blue cylindrical cup toward the flat surface gray wooden coaster without passing near the white and blue shampoo container, then set it down.",
+    "Use an arm, pick the cup for holding liquids up, pass around the curved shampoo bottle, then place the cup for holding liquids on the round coaster."
+  ],
+  "unseen": [
+    "Grab the blue cup, guide it around <the white shampoo with orange design>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the blue-capped shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the blue-capped shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the blue-capped shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the white shampoo with orange design, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white shampoo with orange design>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the blue-capped shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the blue-capped shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the blue-capped shampoo bottle, and set it on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container in white and blue>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo container in white and blue, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the blue-capped shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo container in white and blue>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the shampoo container in white and blue, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container in white and blue>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the white shampoo with orange design, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the white shampoo with orange design>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the blue-capped shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white shampoo with orange design>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo container in white and blue, and set it on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container in white and blue>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo container in white and blue, then place the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, steer it around the white shampoo with orange design, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container in white and blue>, and place it on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the white shampoo with orange design>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the shampoo container in white and blue, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the blue-capped shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the white shampoo with orange design, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container in white and blue, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container in white and blue>, and place the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container in white and blue, and place it on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the blue-capped shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container in white and blue>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the white shampoo with orange design, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the white shampoo with orange design>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the white shampoo with orange design, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo container in white and blue, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the white shampoo with orange design>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo container in white and blue, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container in white and blue, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white shampoo with orange design>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container in white and blue, and place it on the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the white shampoo with orange design>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container in white and blue, and set it on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo container in white and blue, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo container in white and blue>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the white shampoo with orange design>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the blue-capped shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the blue-capped shampoo bottle>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the blue-capped shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the white shampoo with orange design, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the blue-capped shampoo bottle>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the blue-capped shampoo bottle, and place it on the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo container in white and blue, and set it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo container in white and blue>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the white shampoo with orange design, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container in white and blue>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the white shampoo with orange design, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the shampoo container in white and blue, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the blue-capped shampoo bottle>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the blue-capped shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the white shampoo with orange design, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the blue-capped shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white shampoo with orange design, and place it on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the white shampoo with orange design>, and set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container in white and blue, and set it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white shampoo with orange design>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the blue-capped shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the white shampoo with orange design>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the blue-capped shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the white shampoo with orange design, then set the handheld round blue cup down on the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode16.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a532907edea278647d5a2378cbe78e3893abf81
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Carry the blue rounded-bottom cup toward <the smooth round palm-sized coaster>, keeping clear of <the shampoo bottle with rounded body>, and set the blue rounded-bottom cup down.",
+    "Carry the smooth blue drinking cup toward <the small coaster with grain texture>, keeping the path clear of <the shampoo bottle with rounded body>, then set down.",
+    "Grab the medium blue cylindrical cup, guide it away from the shampoo bottle with handle slot, and set the medium blue cylindrical cup neatly on the wooden coaster.",
+    "With an arm, lift the cup with light blue color, avoid the smooth bottle with green top, and place the cup with light blue color on the wooden coaster.",
+    "Use an arm to bring the rounded base blue cup to the grainy texture coaster, keeping the rounded base blue cup clear of the yellow shampoo with cartoon design.",
+    "Grab the medium blue cylindrical cup, swing it away from <the shampoo bottle with handle slot>, and place the medium blue cylindrical cup on <the round coaster with light streaks>.",
+    "With an arm, pick the plastic cup for drinks up, bypass <the medium shampoo bottle with pump>, then place the plastic cup for drinks on <the light gray round grainy coaster>.",
+    "Pick up the medium-sized plastic blue cup, keep its path away from <the hand-sized yellow shampoo bottle>, and set the medium-sized plastic blue cup on <the wooden coaster>.",
+    "Take the medium-sized plastic blue cup, route it away from the bottle with cartoon label, and set the medium-sized plastic blue cup onto the flat surface gray wooden coaster.",
+    "Pick the rounded base blue cup up, route it away from the yellow container with green pump, and drop the rounded base blue cup onto the round coaster with light streaks.",
+    "Lift the cup with smooth plastic surface, pass by the yellow shampoo with cartoon design without contact, then place the cup with smooth plastic surface on the grainy texture coaster.",
+    "Arm-lift the blue rounded-bottom cup, swing around <the smooth bottle with green top>, then place the blue rounded-bottom cup onto <the coaster made of smooth wood>.",
+    "Use an arm to move the smooth blue cup for liquids around the smooth bottle with green top and rest the smooth blue cup for liquids on the light gray streaked wooden coaster.",
+    "Take the cylindrical light blue cup, keep its path away from the bottle with cartoon label, and place the cylindrical light blue cup on the wooden coaster.",
+    "Use an arm: take the medium blue cylindrical cup, avoid the bottle with cartoon label during the move, and drop it on the coaster with circular shape.",
+    "Lift the cup for holding liquids, arc around the smooth bottle with green top, and place the cup for holding liquids squarely on the light gray round grainy coaster.",
+    "Using an arm, grasp the cup for holding liquids, skirt the bottle with cartoon label, and place the cup for holding liquids atop the light gray round grainy coaster.",
+    "Using an arm, carry the cup for holding liquids around the yellow container with green pump and place the cup for holding liquids onto the coaster made of smooth wood.",
+    "Lift the cup with smooth plastic surface, carry it around the yellow bottle with green top, and place the cup with smooth plastic surface squarely on the grainy texture coaster.",
+    "Use an arm to take the medium blue cylindrical cup around <the smooth bottle with green top> and place the medium blue cylindrical cup on <the wooden coaster>.",
+    "Use an arm: grasp the rounded base blue cup, avoid <the yellow shampoo with cartoon design>, and place the rounded base blue cup on <the round coaster with light streaks>.",
+    "Move the cylindrical light blue cup onto the small coaster with grain texture while avoiding the yellow container with green pump, then let go of the cylindrical light blue cup.",
+    "Move the rounded base blue cup to <the small coaster with grain texture> while keeping the rounded base blue cup away from <the medium shampoo bottle with pump>, then release.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the shampoo bottle with handle slot, and place the cylindrical light blue cup on the coaster with circular shape.",
+    "Move the cup for holding liquids to the flat round wooden coaster without crossing the shampoo bottle with handle slot, then release the cup for holding liquids.",
+    "Use an arm to move the light blue plastic cup toward the light gray streaked wooden coaster, keeping the light blue plastic cup clear of the yellow shampoo bottle.",
+    "With an arm, lift the light blue plastic cup, avoid the smooth bottle with green top, and set the light blue plastic cup onto the flat round wooden coaster.",
+    "Using an arm, move the medium blue cylindrical cup to <the coaster with circular shape> while avoiding <the yellow bottle with green top>, then release the medium blue cylindrical cup.",
+    "With an arm, lift the smooth blue drinking cup, avoid <the hand-sized yellow shampoo bottle> on the way, and drop the smooth blue drinking cup on <the smooth round palm-sized coaster>.",
+    "Carry the plastic cup for drinks toward <the light gray streaked wooden coaster>, skirting <the smooth bottle with green top>, and set the plastic cup for drinks down.",
+    "Use an arm to lift the blue rounded-bottom cup, keep distance from <the yellow bottle with green top>, and set the blue rounded-bottom cup on <the grainy texture coaster>.",
+    "Use the arm to carry the smooth blue cup for liquids around the yellow bottle with green top, then rest the smooth blue cup for liquids on the light gray round grainy coaster.",
+    "Use an arm, take the cup for holding liquids past the shampoo bottle with rounded body without nearing it, and rest the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Lift the medium-sized plastic blue cup, keep clear of the shampoo bottle with handle slot, and put the medium-sized plastic blue cup down on the round coaster with light streaks.",
+    "Move the smooth blue drinking cup onto <the flat round wooden coaster> and ensure the path stays away from <the shampoo bottle with handle slot>.",
+    "Using an arm, carry the cylindrical light blue cup past <the yellow shampoo with cartoon design> and place the cylindrical light blue cup squarely on <the flat surface gray wooden coaster>.",
+    "Use an arm, take the blue rounded-bottom cup, avoid <the medium shampoo bottle with pump> on the way, and set on <the round coaster with light streaks>.",
+    "Take the cup with light blue color in the arm, route around <the hand-sized yellow shampoo bottle>, and set it on <the flat surface gray wooden coaster>.",
+    "Move the medium blue cylindrical cup to <the small coaster with grain texture> while keeping its path away from <the shampoo with green dispensing pump>.",
+    "Using an arm, pick the cup with smooth plastic surface up, skirt the yellow shampoo with cartoon design, and place the cup with smooth plastic surface on the flat round wooden coaster.",
+    "With an arm, move the blue rounded-bottom cup past the shampoo with green dispensing pump and place the blue rounded-bottom cup on the coaster with circular shape.",
+    "Take the cup for holding liquids to the light gray round grainy coaster while skirting the medium shampoo bottle with pump, then release the cup for holding liquids on the light gray round grainy coaster.",
+    "Use an arm to grab the cup for holding liquids, avoid the plastic shampoo bottle with label, and set the cup for holding liquids down on the light gray round grainy coaster.",
+    "With an arm, lift the light blue plastic cup, keep it away from the plastic shampoo bottle with label, and drop it onto the small coaster with grain texture.",
+    "Take the smooth blue drinking cup, keep its path away from the yellow shampoo with cartoon design, and drop the smooth blue drinking cup on the round coaster with light streaks.",
+    "With an arm, lift the cup for holding liquids, route past <the bottle with cartoon label>, and drop the cup for holding liquids onto <the flat round wooden coaster>.",
+    "Lift the smooth blue drinking cup, route it away from the yellow container with green pump, then put the smooth blue drinking cup squarely on the round coaster with light streaks.",
+    "Lift the plastic cup for drinks, go around the yellow bottle with green top, and position the plastic cup for drinks squarely on the grainy texture coaster.",
+    "Pick up the blue rounded-bottom cup, guide it past the shampoo bottle with handle slot, and drop the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Pick up the rounded base blue cup, avoid the yellow shampoo with cartoon design along the way, and place the rounded base blue cup on the light gray round grainy coaster.",
+    "Use an arm to lift the blue rounded-bottom cup, arc around the medium shampoo bottle with pump, and place the blue rounded-bottom cup atop the smooth round palm-sized coaster.",
+    "Take the medium blue cylindrical cup, arc around <the shampoo with green dispensing pump>, and place the medium blue cylindrical cup neatly on <the flat round wooden coaster>.",
+    "With an arm, lift the plastic cup for drinks, guide it past the yellow shampoo bottle, and put the plastic cup for drinks on the wooden coaster.",
+    "Use an arm, keep the smooth blue cup for liquids from the shampoo bottle with handle slot, and lower the smooth blue cup for liquids onto the flat surface gray wooden coaster.",
+    "Use the arm to move the medium blue cylindrical cup past <the bottle with cartoon label> and rest it on <the coaster made of smooth wood>.",
+    "Secure the light blue plastic cup, move it around the yellow shampoo with cartoon design, and place the light blue plastic cup squarely on the coaster with circular shape.",
+    "Slide the plastic cup for drinks over to <the smooth round palm-sized coaster> without passing near <the yellow shampoo with cartoon design>.",
+    "Use the arm to lift the rounded base blue cup, pass the yellow container with green pump, and place the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Move the blue rounded-bottom cup to the flat surface gray wooden coaster while avoiding the bottle with cartoon label, then place the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Use an arm: pick the cup for holding liquids up, skirt <the medium shampoo bottle with pump>, then place the cup for holding liquids onto <the grainy texture coaster>.",
+    "Use an arm: grab the cup with light blue color, avoid the medium shampoo bottle with pump on the way, then set the cup with light blue color on the grainy texture coaster.",
+    "Grab the medium-sized plastic blue cup, route around the medium shampoo bottle with pump, then lower the medium-sized plastic blue cup onto the wooden coaster.",
+    "Move the cylindrical light blue cup onto the smooth round palm-sized coaster while avoiding the shampoo bottle with rounded body, then let go of the cylindrical light blue cup.",
+    "Pick up the plastic cup for drinks, keep clear of <the yellow bottle with green top>, and drop the plastic cup for drinks onto <the wooden coaster>.",
+    "Pick up the cup for holding liquids, route it away from the yellow bottle with green top, then set the cup for holding liquids on the grainy texture coaster.",
+    "Slide the plastic cup for drinks toward the wooden coaster, detouring around the shampoo bottle with handle slot, then set the plastic cup for drinks down.",
+    "With an arm, bring the cup with light blue color over to <the light gray streaked wooden coaster> and keep clear of <the yellow bottle with green top>.",
+    "Take the smooth blue drinking cup, swing wide of the yellow shampoo bottle, then rest the smooth blue drinking cup on the coaster made of smooth wood.",
+    "Lift the cup with light blue color, guide it past the shampoo bottle with rounded body, and rest the cup with light blue color on the wooden coaster.",
+    "Carry the medium blue cylindrical cup toward the flat round wooden coaster, keeping the medium blue cylindrical cup away from the smooth bottle with green top, then set down.",
+    "Use an arm, pick the plastic cup for drinks up, pass around the bottle with cartoon label, then place the plastic cup for drinks on the small coaster with grain texture.",
+    "Guide the cup with smooth plastic surface with the arm around <the medium shampoo bottle with pump> and onto <the flat round wooden coaster>.",
+    "Use an arm to move the smooth blue drinking cup to the coaster with circular shape, keeping the smooth blue drinking cup from bumping the hand-sized yellow shampoo bottle.",
+    "Move the blue rounded-bottom cup toward the wooden coaster without passing near the smooth bottle with green top, then set it down.",
+    "Take the cup with smooth plastic surface, guide it away from <the shampoo with green dispensing pump>, and place the cup with smooth plastic surface squarely on <the round coaster with light streaks>.",
+    "With an arm, take the cup with smooth plastic surface, avoid the yellow bottle with green top, and put the cup with smooth plastic surface on the round coaster.",
+    "Lift the medium-sized plastic blue cup, guide it around <the yellow container with green pump>, then put the medium-sized plastic blue cup onto <the light gray round grainy coaster>.",
+    "Lift the light blue plastic cup, steer away from <the medium shampoo bottle with pump>, then place the light blue plastic cup on <the small coaster with grain texture>.",
+    "Secure the plastic cup for drinks, keep its path away from the yellow container with green pump, and set the plastic cup for drinks on the round coaster.",
+    "Lift the medium-sized plastic blue cup, pass beside <the shampoo bottle with rounded body> without contact, then place the medium-sized plastic blue cup onto <the light gray streaked wooden coaster>.",
+    "Carry the light blue plastic cup toward <the round coaster>, keeping clear of <the shampoo with green dispensing pump>, and set the light blue plastic cup down.",
+    "Carry the cup with light blue color toward <the light gray streaked wooden coaster>, keeping the path clear of <the yellow shampoo bottle>, then set down.",
+    "Grab the cup with smooth plastic surface, guide it away from the yellow container with green pump, and set the cup with smooth plastic surface neatly on the flat surface gray wooden coaster.",
+    "With an arm, lift the rounded base blue cup, avoid the shampoo bottle with handle slot, and place the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Use an arm to bring the medium-sized plastic blue cup to the grainy texture coaster, keeping the medium-sized plastic blue cup clear of the yellow shampoo bottle.",
+    "Grab the blue rounded-bottom cup, swing it away from <the smooth bottle with green top>, and place the blue rounded-bottom cup on <the round coaster>.",
+    "With an arm, pick the smooth blue drinking cup up, bypass <the hand-sized yellow shampoo bottle>, then place the smooth blue drinking cup on <the round coaster with light streaks>.",
+    "Pick up the cup for holding liquids, keep its path away from <the plastic shampoo bottle with label>, and set the cup for holding liquids on <the light gray round grainy coaster>.",
+    "Take the plastic cup for drinks, route it away from the yellow shampoo with cartoon design, and set the plastic cup for drinks onto the coaster with circular shape.",
+    "Pick the plastic cup for drinks up, route it away from the yellow container with green pump, and drop the plastic cup for drinks onto the grainy texture coaster.",
+    "Lift the cylindrical light blue cup, pass by the plastic shampoo bottle with label without contact, then place the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Arm-lift the cup with light blue color, swing around <the hand-sized yellow shampoo bottle>, then place the cup with light blue color onto <the coaster with circular shape>.",
+    "Use an arm to move the medium-sized plastic blue cup around the shampoo bottle with rounded body and rest the medium-sized plastic blue cup on the flat round wooden coaster.",
+    "Take the cup with light blue color, keep its path away from the yellow container with green pump, and place the cup with light blue color on the small coaster with grain texture.",
+    "Use an arm: take the medium blue cylindrical cup, avoid the smooth bottle with green top during the move, and drop it on the coaster with circular shape.",
+    "Lift the rounded base blue cup, arc around the yellow shampoo bottle, and place the rounded base blue cup squarely on the round coaster.",
+    "Using an arm, grasp the cup with light blue color, skirt the yellow shampoo with cartoon design, and place the cup with light blue color atop the grainy texture coaster.",
+    "Using an arm, carry the cup for holding liquids around the hand-sized yellow shampoo bottle and place the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Lift the cup with light blue color, carry it around the medium shampoo bottle with pump, and place the cup with light blue color squarely on the small coaster with grain texture.",
+    "Use an arm to take the cup with smooth plastic surface around <the shampoo with green dispensing pump> and place the cup with smooth plastic surface on <the light gray round grainy coaster>."
+  ],
+  "unseen": [
+    "Use an arm to grab the blue cup, steer around the yellow shampoo with pump dispenser, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the smooth plastic shampoo container, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the smooth plastic shampoo container, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set it on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the yellow shampoo with pump dispenser>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the smooth plastic shampoo container>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the yellow bottle with rounded edges, and place it on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the yellow shampoo with pump dispenser>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the yellow bottle with rounded edges, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the yellow shampoo with pump dispenser, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the smooth plastic shampoo container>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the yellow bottle with rounded edges, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the smooth plastic shampoo container>, and place it on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the smooth plastic shampoo container>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the yellow bottle with rounded edges, and place the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the yellow shampoo with pump dispenser, and set it on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the smooth plastic shampoo container>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, route it around <the yellow shampoo with pump dispenser>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the smooth plastic shampoo container, and place it on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the yellow shampoo with pump dispenser, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the smooth plastic shampoo container>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow bottle with rounded edges, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the yellow bottle with rounded edges, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, steer it around the yellow shampoo with pump dispenser, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the yellow shampoo with pump dispenser>, and set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the smooth plastic shampoo container, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the yellow shampoo with pump dispenser>, and place it on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the yellow bottle with rounded edges>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth plastic shampoo container, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the smooth plastic shampoo container, and place the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the yellow bottle with rounded edges, and set it on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the yellow bottle with rounded edges>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the yellow shampoo with pump dispenser>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the yellow shampoo with pump dispenser, and place it on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the yellow shampoo with pump dispenser>, and place the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the smooth plastic shampoo container, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the yellow shampoo with pump dispenser, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the yellow shampoo with pump dispenser, then set the small smooth cup onto the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the yellow shampoo with pump dispenser>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the yellow shampoo with pump dispenser, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the yellow bottle with rounded edges>, and place it on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the yellow bottle with rounded edges>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the yellow bottle with rounded edges, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the smooth plastic shampoo container, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the smooth plastic shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the yellow bottle with rounded edges>, then set the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the yellow shampoo with pump dispenser>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the yellow shampoo with pump dispenser, and place it on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the yellow bottle with rounded edges>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the smooth plastic shampoo container, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the yellow shampoo with pump dispenser, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the smooth plastic shampoo container>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the yellow shampoo with pump dispenser, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the yellow shampoo with pump dispenser>, and place it on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the yellow shampoo with pump dispenser>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth plastic shampoo container, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the yellow shampoo with pump dispenser, and place the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the yellow shampoo with pump dispenser, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set it on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the yellow shampoo with pump dispenser>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the smooth plastic shampoo container>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the yellow bottle with rounded edges, and place it on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the yellow shampoo with pump dispenser>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the yellow bottle with rounded edges, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the yellow shampoo with pump dispenser, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the yellow shampoo with pump dispenser>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the yellow bottle with rounded edges, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the blue cup, guide it around <the smooth plastic shampoo container>, and place it on <the light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the yellow bottle with rounded edges>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow bottle with rounded edges, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the yellow shampoo with pump dispenser, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the yellow shampoo with pump dispenser, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the yellow shampoo with pump dispenser, and set it on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the yellow shampoo with pump dispenser>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the yellow shampoo with pump dispenser>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the yellow shampoo with pump dispenser, and place it on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the smooth plastic shampoo container>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the smooth plastic shampoo container, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the yellow bottle with rounded edges, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the yellow shampoo with pump dispenser>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the smooth plastic shampoo container, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the yellow shampoo with pump dispenser>, and place it on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the yellow bottle with rounded edges>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the yellow shampoo with pump dispenser, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the yellow shampoo with pump dispenser, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the yellow shampoo with pump dispenser, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the smooth plastic shampoo container, and set it on the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode17.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..fad5fa1a667c5e1b259d3c3070827a25edb2d15d
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm to lift the medium-sized plastic blue cup, keep distance from <the shampoo bottle flat bottom edge>, and set the medium-sized plastic blue cup on <the wooden coaster>.",
+    "Use an arm to lift the smooth blue drinking cup, arc around the small smooth shampoo bottle, and place the smooth blue drinking cup atop the round coaster with light streaks.",
+    "With an arm, pick the plastic cup for drinks up, bypass <the shampoo bottle with white cap>, then place the plastic cup for drinks on <the flat surface gray wooden coaster>.",
+    "Use an arm to move the cup with light blue color toward the coaster with circular shape, keeping the cup with light blue color clear of the blue shampoo bottle slender design.",
+    "With an arm, move the smooth blue cup for liquids past the blue shampoo bottle and place the smooth blue cup for liquids on the smooth round palm-sized coaster.",
+    "Move the medium-sized plastic blue cup to <the coaster with circular shape> while keeping its path away from <the shampoo bottle tapered toward cap>.",
+    "Grab the medium blue cylindrical cup, swing it away from <the hand-sized shampoo bottle>, and place the medium blue cylindrical cup on <the round coaster with light streaks>.",
+    "Move the plastic cup for drinks onto the grainy texture coaster while avoiding the small smooth shampoo bottle, then let go of the plastic cup for drinks.",
+    "Move the plastic cup for drinks onto the flat surface gray wooden coaster while avoiding the shampoo bottle with white cap, then let go of the plastic cup for drinks.",
+    "Using an arm, carry the cylindrical light blue cup past <the blue shampoo bottle> and place the cylindrical light blue cup squarely on <the coaster made of smooth wood>.",
+    "Carry the blue rounded-bottom cup toward <the small coaster with grain texture>, keeping clear of <the bottle light blue rounded shape>, and set the blue rounded-bottom cup down.",
+    "Carry the plastic cup for drinks toward <the wooden coaster>, skirting <the small smooth shampoo bottle>, and set the plastic cup for drinks down.",
+    "Carry the medium-sized plastic blue cup toward the grainy texture coaster, keeping the medium-sized plastic blue cup away from the hand-sized shampoo bottle, then set down.",
+    "Move the plastic cup for drinks to the grainy texture coaster while avoiding the shampoo bottle with white cap, then place the plastic cup for drinks on the grainy texture coaster.",
+    "Use an arm to bring the smooth blue cup for liquids to the round coaster, keeping the smooth blue cup for liquids clear of the small smooth shampoo bottle.",
+    "Lift the medium-sized plastic blue cup, route it away from the small smooth shampoo bottle, then put the medium-sized plastic blue cup squarely on the round coaster.",
+    "Move the light blue plastic cup toward the wooden coaster without passing near the shampoo bottle flat bottom edge, then set it down.",
+    "Lift the smooth blue drinking cup, arc around the shampoo bottle with matte plastic, and place the smooth blue drinking cup squarely on the small coaster with grain texture.",
+    "Use an arm: take the smooth blue drinking cup, avoid the blue shampoo bottle during the move, and drop it on the round coaster with light streaks.",
+    "Pick up the cylindrical light blue cup, keep its path away from <the small smooth shampoo bottle>, and set the cylindrical light blue cup on <the small coaster with grain texture>.",
+    "Pick up the medium-sized plastic blue cup, keep clear of <the blue shampoo bottle slender design>, and drop the medium-sized plastic blue cup onto <the grainy texture coaster>.",
+    "Use an arm: grasp the smooth blue cup for liquids, avoid <the shampoo bottle flat bottom edge>, and place the smooth blue cup for liquids on <the coaster made of smooth wood>.",
+    "Take the cup with light blue color, keep its path away from the light blue shampoo bottle small size, and drop the cup with light blue color on the wooden coaster.",
+    "Using an arm, move the rounded base blue cup to <the flat round wooden coaster> while avoiding <the curved light blue shampoo bottle>, then release the rounded base blue cup.",
+    "Lift the cup with smooth plastic surface, guide it around <the shampoo bottle with white cap>, then put the cup with smooth plastic surface onto <the light gray round grainy coaster>.",
+    "With an arm, take the cylindrical light blue cup, avoid the shampoo bottle flat bottom edge, and put the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Use an arm to move the cup for holding liquids around the shampoo bottle with white cap and rest the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Slide the cup with light blue color toward the coaster made of smooth wood, detouring around the light blue shampoo bottle small size, then set the cup with light blue color down.",
+    "Using an arm, pick the cup with light blue color up, skirt the hand-sized shampoo bottle, and place the cup with light blue color on the round coaster.",
+    "Pick up the smooth blue cup for liquids, avoid the shampoo bottle with white cap along the way, and place the smooth blue cup for liquids on the wooden coaster.",
+    "Use an arm, take the medium-sized plastic blue cup, avoid <the shampoo bottle tapered toward cap> on the way, and set on <the flat surface gray wooden coaster>.",
+    "Use an arm to take the rounded base blue cup around <the small smooth shampoo bottle> and place the rounded base blue cup on <the coaster made of smooth wood>.",
+    "With an arm, lift the medium blue cylindrical cup, avoid the shampoo bottle with white cap, and place the medium blue cylindrical cup on the flat round wooden coaster.",
+    "With an arm, lift the medium blue cylindrical cup, route past <the bottle light blue rounded shape>, and drop the medium blue cylindrical cup onto <the round coaster with light streaks>.",
+    "With an arm, lift the blue rounded-bottom cup, guide it past the shampoo bottle with white cap, and put the blue rounded-bottom cup on the round coaster.",
+    "Using an arm, carry the cylindrical light blue cup around the light blue shampoo bottle small size and place the cylindrical light blue cup onto the coaster with circular shape.",
+    "Take the cup for holding liquids, arc around <the shampoo bottle with matte plastic>, and place the cup for holding liquids neatly on <the flat surface gray wooden coaster>.",
+    "Use an arm: pick the medium-sized plastic blue cup up, skirt <the blue shampoo bottle>, then place the medium-sized plastic blue cup onto <the flat surface gray wooden coaster>.",
+    "Take the plastic cup for drinks, swing wide of the curved light blue shampoo bottle, then rest the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Using an arm, pick the light blue plastic cup up, skirt the blue shampoo bottle slender design, and place the light blue plastic cup on the smooth round palm-sized coaster.",
+    "Lift the smooth blue drinking cup, steer away from <the bottle of shampoo>, then place the smooth blue drinking cup on <the light gray round grainy coaster>.",
+    "Grab the rounded base blue cup, guide it away from the blue shampoo bottle slender design, and set the rounded base blue cup neatly on the flat round wooden coaster.",
+    "With an arm, lift the cup for holding liquids, avoid the blue shampoo bottle slender design, and set the cup for holding liquids onto the round coaster.",
+    "With an arm, lift the cup with light blue color, keep it away from the shampoo bottle with matte plastic, and drop it onto the grainy texture coaster.",
+    "With an arm, lift the light blue plastic cup, avoid <the bottle light blue rounded shape> on the way, and drop the light blue plastic cup on <the light gray streaked wooden coaster>.",
+    "Take the cup for holding liquids, guide it away from <the hand-sized shampoo bottle>, and place the cup for holding liquids squarely on <the coaster made of smooth wood>.",
+    "Use an arm to move the medium-sized plastic blue cup to the coaster with circular shape, keeping the medium-sized plastic blue cup from bumping the shampoo bottle with white cap.",
+    "Take the medium blue cylindrical cup, keep its path away from the light blue shampoo bottle small size, and place the medium blue cylindrical cup on the wooden coaster.",
+    "Use an arm: grab the medium blue cylindrical cup, avoid the small smooth shampoo bottle on the way, then set the medium blue cylindrical cup on the small coaster with grain texture.",
+    "Secure the blue rounded-bottom cup, move it around the shampoo bottle with white cap, and place the blue rounded-bottom cup squarely on the coaster with circular shape.",
+    "Lift the plastic cup for drinks, guide it past the shampoo bottle flat bottom edge, and rest the plastic cup for drinks on the light gray round grainy coaster.",
+    "Lift the smooth blue cup for liquids, carry it around the curved light blue shampoo bottle, and place the smooth blue cup for liquids squarely on the flat round wooden coaster.",
+    "Move the cup for holding liquids to <the round coaster> while keeping the cup for holding liquids away from <the bottle light blue rounded shape>, then release.",
+    "Secure the cup for holding liquids, keep its path away from the small smooth shampoo bottle, and set the cup for holding liquids on the round coaster with light streaks.",
+    "Move the cup for holding liquids to the light gray streaked wooden coaster without crossing the hand-sized shampoo bottle, then release the cup for holding liquids.",
+    "Use an arm, pick the cylindrical light blue cup up, pass around the bottle of shampoo, then place the cylindrical light blue cup on the flat round wooden coaster.",
+    "Lift the medium-sized plastic blue cup, keep clear of the shampoo bottle flat bottom edge, and put the medium-sized plastic blue cup down on the small coaster with grain texture.",
+    "With an arm, bring the rounded base blue cup over to <the coaster with circular shape> and keep clear of <the hand-sized shampoo bottle>.",
+    "Lift the smooth blue drinking cup, pass beside <the shampoo bottle flat bottom edge> without contact, then place the smooth blue drinking cup onto <the round coaster>.",
+    "Using an arm, grasp the blue rounded-bottom cup, skirt the hand-sized shampoo bottle, and place the blue rounded-bottom cup atop the light gray streaked wooden coaster.",
+    "Take the smooth blue cup for liquids in the arm, route around <the bottle of shampoo>, and set it on <the coaster made of smooth wood>.",
+    "Use an arm to grab the medium-sized plastic blue cup, avoid the shampoo bottle with white cap, and set the medium-sized plastic blue cup down on the round coaster with light streaks.",
+    "Lift the medium-sized plastic blue cup, go around the light blue shampoo bottle small size, and position the medium-sized plastic blue cup squarely on the light gray round grainy coaster.",
+    "Slide the blue rounded-bottom cup over to <the smooth round palm-sized coaster> without passing near <the shampoo bottle with white cap>.",
+    "Use the arm to carry the smooth blue drinking cup around the shampoo bottle with white cap, then rest the smooth blue drinking cup on the round coaster.",
+    "Move the plastic cup for drinks onto <the round coaster with light streaks> and ensure the path stays away from <the shampoo bottle with matte plastic>.",
+    "Pick up the light blue plastic cup, guide it past the hand-sized shampoo bottle, and drop the light blue plastic cup on the round coaster with light streaks.",
+    "Arm-lift the medium blue cylindrical cup, swing around <the hand-sized shampoo bottle>, then place the medium blue cylindrical cup onto <the small coaster with grain texture>.",
+    "Guide the blue rounded-bottom cup with the arm around <the blue shampoo bottle> and onto <the flat surface gray wooden coaster>.",
+    "Use an arm, take the plastic cup for drinks past the small smooth shampoo bottle without nearing it, and rest the plastic cup for drinks on the coaster with circular shape.",
+    "Lift the blue rounded-bottom cup, pass by the bottle light blue rounded shape without contact, then place the blue rounded-bottom cup on the light gray round grainy coaster.",
+    "Grab the cup with smooth plastic surface, route around the bottle of shampoo, then lower the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Pick the medium blue cylindrical cup up, route it away from the blue shampoo bottle, and drop the medium blue cylindrical cup onto the smooth round palm-sized coaster.",
+    "Take the cup for holding liquids, route it away from the shampoo bottle with white cap, and set the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Carry the blue rounded-bottom cup toward <the coaster with circular shape>, keeping the path clear of <the blue shampoo bottle slender design>, then set down.",
+    "Use an arm, keep the smooth blue cup for liquids from the light blue shampoo bottle small size, and lower the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Pick up the cup with light blue color, route it away from the shampoo bottle flat bottom edge, then set the cup with light blue color on the smooth round palm-sized coaster.",
+    "Use the arm to move the smooth blue drinking cup past <the shampoo bottle flat bottom edge> and rest it on <the coaster made of smooth wood>.",
+    "Take the medium-sized plastic blue cup to the grainy texture coaster while skirting the blue shampoo bottle slender design, then release the medium-sized plastic blue cup on the grainy texture coaster.",
+    "Use the arm to lift the light blue plastic cup, pass the small smooth shampoo bottle, and place the light blue plastic cup on the small coaster with grain texture.",
+    "Use an arm to lift the light blue plastic cup, keep distance from <the hand-sized shampoo bottle>, and set the light blue plastic cup on <the round coaster>.",
+    "Use an arm to lift the smooth blue drinking cup, arc around the shampoo bottle flat bottom edge, and place the smooth blue drinking cup atop the smooth round palm-sized coaster.",
+    "With an arm, pick the cup for holding liquids up, bypass <the hand-sized shampoo bottle>, then place the cup for holding liquids on <the small coaster with grain texture>.",
+    "Use an arm to move the light blue plastic cup toward the coaster made of smooth wood, keeping the light blue plastic cup clear of the small smooth shampoo bottle.",
+    "With an arm, move the cup for holding liquids past the shampoo bottle with matte plastic and place the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Move the blue rounded-bottom cup to <the light gray round grainy coaster> while keeping its path away from <the shampoo bottle with white cap>.",
+    "Grab the smooth blue cup for liquids, swing it away from <the small smooth shampoo bottle>, and place the smooth blue cup for liquids on <the light gray round grainy coaster>.",
+    "Move the cup with light blue color onto the flat surface gray wooden coaster while avoiding the blue shampoo bottle, then let go of the cup with light blue color.",
+    "Move the light blue plastic cup onto the flat surface gray wooden coaster while avoiding the shampoo bottle with white cap, then let go of the light blue plastic cup.",
+    "Using an arm, carry the light blue plastic cup past <the small smooth shampoo bottle> and place the light blue plastic cup squarely on <the flat surface gray wooden coaster>.",
+    "Carry the cup for holding liquids toward <the grainy texture coaster>, keeping clear of <the shampoo bottle flat bottom edge>, and set the cup for holding liquids down.",
+    "Carry the light blue plastic cup toward <the coaster made of smooth wood>, skirting <the hand-sized shampoo bottle>, and set the light blue plastic cup down.",
+    "Carry the cylindrical light blue cup toward the coaster with circular shape, keeping the cylindrical light blue cup away from the shampoo bottle with matte plastic, then set down.",
+    "Move the smooth blue drinking cup to the flat round wooden coaster while avoiding the shampoo bottle flat bottom edge, then place the smooth blue drinking cup on the flat round wooden coaster.",
+    "Use an arm to bring the medium blue cylindrical cup to the flat surface gray wooden coaster, keeping the medium blue cylindrical cup clear of the shampoo bottle with white cap.",
+    "Lift the light blue plastic cup, route it away from the small smooth shampoo bottle, then put the light blue plastic cup squarely on the light gray round grainy coaster.",
+    "Move the cup for holding liquids toward the coaster made of smooth wood without passing near the bottle of shampoo, then set it down.",
+    "Lift the cup with light blue color, arc around the curved light blue shampoo bottle, and place the cup with light blue color squarely on the small coaster with grain texture.",
+    "Use an arm: take the cup with smooth plastic surface, avoid the blue shampoo bottle during the move, and drop it on the flat surface gray wooden coaster.",
+    "Pick up the smooth blue cup for liquids, keep its path away from <the bottle of shampoo>, and set the smooth blue cup for liquids on <the round coaster>."
+  ],
+  "unseen": [
+    "Use an arm to grab the small smooth cup, steer around <the oval light blue shampoo container>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, steer it around the oval light blue shampoo container, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the oval light blue shampoo container, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the smooth bottle containing shampoo, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the oval light blue shampoo container>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo container white rounded top, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the shampoo container white rounded top>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the oval light blue shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container white rounded top>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container white rounded top>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the oval light blue shampoo container, and set it on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container white rounded top>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the oval light blue shampoo container>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, steer it around the shampoo container white rounded top, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the oval light blue shampoo container, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the oval light blue shampoo container, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the smooth bottle containing shampoo>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo container white rounded top, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo container white rounded top>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo container white rounded top, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the oval light blue shampoo container>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the blue cup, avoid <the smooth bottle containing shampoo>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the oval light blue shampoo container, and set it on the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container white rounded top>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the smooth bottle containing shampoo>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo container white rounded top, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the smooth bottle containing shampoo, and place it on the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the smooth bottle containing shampoo, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the oval light blue shampoo container>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the smooth bottle containing shampoo, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the smooth bottle containing shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the smooth bottle containing shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container white rounded top, then place the handheld round blue cup onto the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container white rounded top>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the oval light blue shampoo container>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the smooth bottle containing shampoo, and set it on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo container white rounded top>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the smooth bottle containing shampoo>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, steer it around the shampoo container white rounded top, then set the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container white rounded top, and place it on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the smooth bottle containing shampoo, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, route it around <the oval light blue shampoo container>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo container white rounded top, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the smooth bottle containing shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the oval light blue shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the oval light blue shampoo container>, and set the handheld round blue cup on <the light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the smooth bottle containing shampoo, and set it on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the oval light blue shampoo container>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the oval light blue shampoo container>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo container white rounded top, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the oval light blue shampoo container, and place it on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container white rounded top, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the oval light blue shampoo container>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the smooth bottle containing shampoo, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the oval light blue shampoo container>, and place it on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the oval light blue shampoo container, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container white rounded top>, and set the small smooth cup on <the light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the oval light blue shampoo container, and set it on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the oval light blue shampoo container>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the oval light blue shampoo container>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the smooth bottle containing shampoo, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container white rounded top, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the smooth bottle containing shampoo, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container white rounded top>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the shampoo container white rounded top, then set the blue cup down on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container white rounded top>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo container white rounded top, then place the blue cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth bottle containing shampoo>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the oval light blue shampoo container>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container white rounded top, and set it on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the oval light blue shampoo container>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container white rounded top>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the oval light blue shampoo container, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the oval light blue shampoo container, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container white rounded top, and place the small smooth cup on the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode18.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..461986080e53664afe4e1d176ec366c4949609e2
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the plastic cup for drinks, route it away from the shampoo bottle with blue cap, and set the plastic cup for drinks onto the coaster with circular shape.",
+    "Using an arm, grasp the cylindrical light blue cup, skirt the white and blue shampoo container, and place the cylindrical light blue cup atop the small coaster with grain texture.",
+    "Use an arm to grab the smooth blue cup for liquids, avoid the medium-sized white plastic shampoo, and set the smooth blue cup for liquids down on the coaster made of smooth wood.",
+    "Use an arm to lift the cup with smooth plastic surface, arc around the medium-sized white plastic shampoo, and place the cup with smooth plastic surface atop the light gray round grainy coaster.",
+    "Move the blue rounded-bottom cup to the light gray streaked wooden coaster while avoiding the shampoo bottle with curved sides, then place the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Move the medium blue cylindrical cup to <the coaster with circular shape> while keeping the medium blue cylindrical cup away from <the plastic shampoo with orange label>, then release.",
+    "Use the arm to move the smooth blue cup for liquids past <the blue top shampoo bottle> and rest it on <the flat surface gray wooden coaster>.",
+    "Use an arm: pick the light blue plastic cup up, skirt <the plastic shampoo with orange label>, then place the light blue plastic cup onto <the flat surface gray wooden coaster>.",
+    "Use an arm to move the plastic cup for drinks to the coaster with circular shape, keeping the plastic cup for drinks from bumping the bottle with hexagonal blue cap.",
+    "Use an arm: grab the cup with light blue color, avoid the shampoo bottle with curved sides on the way, then set the cup with light blue color on the light gray streaked wooden coaster.",
+    "Use an arm: grasp the blue rounded-bottom cup, avoid <the bottle with smooth surface>, and place the blue rounded-bottom cup on <the smooth round palm-sized coaster>.",
+    "Use an arm, keep the medium-sized plastic blue cup from the white shampoo bottle, and lower the medium-sized plastic blue cup onto the light gray streaked wooden coaster.",
+    "Pick up the rounded base blue cup, route it away from the handheld shampoo container, then set the rounded base blue cup on the smooth round palm-sized coaster.",
+    "Use an arm, take the plastic cup for drinks, avoid <the plastic shampoo with orange label> on the way, and set on <the flat surface gray wooden coaster>.",
+    "Lift the blue rounded-bottom cup, pass beside <the shampoo bottle with blue cap> without contact, then place the blue rounded-bottom cup onto <the small coaster with grain texture>.",
+    "Use the arm to carry the smooth blue drinking cup around the curved shampoo bottle, then rest the smooth blue drinking cup on the round coaster.",
+    "Take the cup with light blue color, keep its path away from the shampoo bottle with curved sides, and place the cup with light blue color on the coaster made of smooth wood.",
+    "With an arm, lift the smooth blue cup for liquids, route past <the handheld shampoo container>, and drop the smooth blue cup for liquids onto <the light gray streaked wooden coaster>.",
+    "Pick the medium blue cylindrical cup up, route it away from the shampoo bottle with curved sides, and drop the medium blue cylindrical cup onto the grainy texture coaster.",
+    "Move the cup with smooth plastic surface to the wooden coaster without crossing the white shampoo bottle, then release the cup with smooth plastic surface.",
+    "Using an arm, pick the cup with light blue color up, skirt the blue top shampoo bottle, and place the cup with light blue color on the flat surface gray wooden coaster.",
+    "Use an arm, pick the light blue plastic cup up, pass around the white shampoo bottle, then place the light blue plastic cup on the small coaster with grain texture.",
+    "Grab the smooth blue drinking cup, route around the handheld shampoo container, then lower the smooth blue drinking cup onto the small coaster with grain texture.",
+    "With an arm, lift the cup for holding liquids, avoid the handheld shampoo container, and place the cup for holding liquids on the grainy texture coaster.",
+    "Using an arm, move the smooth blue drinking cup to <the wooden coaster> while avoiding <the white shampoo bottle>, then release the smooth blue drinking cup.",
+    "Pick up the medium-sized plastic blue cup, avoid the handheld shampoo container along the way, and place the medium-sized plastic blue cup on the round coaster with light streaks.",
+    "Grab the smooth blue cup for liquids, swing it away from <the shampoo bottle with blue cap>, and place the smooth blue cup for liquids on <the smooth round palm-sized coaster>.",
+    "Take the smooth blue drinking cup in the arm, route around <the shampoo bottle with curved sides>, and set it on <the grainy texture coaster>.",
+    "Move the smooth blue cup for liquids to <the smooth round palm-sized coaster> while keeping its path away from <the plastic shampoo with orange label>.",
+    "Lift the cup with light blue color, steer away from <the plastic shampoo bottle>, then place the cup with light blue color on <the flat round wooden coaster>.",
+    "With an arm, move the cylindrical light blue cup past the bottle with smooth surface and place the cylindrical light blue cup on the flat surface gray wooden coaster.",
+    "Lift the light blue plastic cup, pass by the white and blue shampoo container without contact, then place the light blue plastic cup on the wooden coaster.",
+    "Move the medium-sized plastic blue cup onto the small coaster with grain texture while avoiding the curved shampoo bottle, then let go of the medium-sized plastic blue cup.",
+    "Take the medium-sized plastic blue cup, swing wide of the curved shampoo bottle, then rest the medium-sized plastic blue cup on the light gray round grainy coaster.",
+    "Arm-lift the blue rounded-bottom cup, swing around <the handheld shampoo container>, then place the blue rounded-bottom cup onto <the coaster with circular shape>.",
+    "Pick up the light blue plastic cup, keep its path away from <the handheld shampoo container>, and set the light blue plastic cup on <the flat round wooden coaster>.",
+    "Take the rounded base blue cup to the grainy texture coaster while skirting the medium-sized white plastic shampoo, then release the rounded base blue cup on the grainy texture coaster.",
+    "Use an arm, take the blue rounded-bottom cup past the bottle with smooth surface without nearing it, and rest the blue rounded-bottom cup on the small coaster with grain texture.",
+    "Carry the smooth blue drinking cup toward the smooth round palm-sized coaster, keeping the smooth blue drinking cup away from the white shampoo bottle, then set down.",
+    "Move the smooth blue drinking cup toward the smooth round palm-sized coaster without passing near the handheld shampoo container, then set it down.",
+    "Pick up the cup for holding liquids, keep clear of <the bottle with hexagonal blue cap>, and drop the cup for holding liquids onto <the coaster made of smooth wood>.",
+    "Secure the smooth blue cup for liquids, keep its path away from the handheld shampoo container, and set the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Lift the cup for holding liquids, arc around the white and blue shampoo container, and place the cup for holding liquids squarely on the small coaster with grain texture.",
+    "Using an arm, carry the light blue plastic cup around the shampoo bottle with blue cap and place the light blue plastic cup onto the round coaster with light streaks.",
+    "With an arm, lift the plastic cup for drinks, avoid the white and blue shampoo container, and set the plastic cup for drinks onto the round coaster.",
+    "Carry the medium-sized plastic blue cup toward <the smooth round palm-sized coaster>, keeping the path clear of <the blue top shampoo bottle>, then set down.",
+    "Use an arm to move the medium blue cylindrical cup toward the wooden coaster, keeping the medium blue cylindrical cup clear of the medium-sized white plastic shampoo.",
+    "Carry the plastic cup for drinks toward <the wooden coaster>, keeping clear of <the shampoo bottle with blue cap>, and set the plastic cup for drinks down.",
+    "Using an arm, pick the smooth blue drinking cup up, skirt the blue top shampoo bottle, and place the smooth blue drinking cup on the small coaster with grain texture.",
+    "Use an arm to lift the light blue plastic cup, keep distance from <the shampoo bottle with blue cap>, and set the light blue plastic cup on <the light gray streaked wooden coaster>.",
+    "Using an arm, carry the medium blue cylindrical cup past <the blue top shampoo bottle> and place the medium blue cylindrical cup squarely on <the coaster made of smooth wood>.",
+    "Use an arm to take the cylindrical light blue cup around <the handheld shampoo container> and place the cylindrical light blue cup on <the coaster made of smooth wood>.",
+    "Take the medium-sized plastic blue cup, guide it away from <the white and blue shampoo container>, and place the medium-sized plastic blue cup squarely on <the small coaster with grain texture>.",
+    "Use an arm: take the smooth blue drinking cup, avoid the white shampoo bottle during the move, and drop it on the round coaster with light streaks.",
+    "With an arm, lift the cup with smooth plastic surface, guide it past the plastic shampoo with orange label, and put the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Slide the cup with smooth plastic surface over to <the light gray round grainy coaster> without passing near <the handheld shampoo container>.",
+    "Lift the cup with smooth plastic surface, carry it around the medium-sized white plastic shampoo, and place the cup with smooth plastic surface squarely on the flat surface gray wooden coaster.",
+    "With an arm, bring the smooth blue cup for liquids over to <the coaster made of smooth wood> and keep clear of <the bottle with smooth surface>.",
+    "Move the smooth blue cup for liquids onto <the flat surface gray wooden coaster> and ensure the path stays away from <the white and blue shampoo container>.",
+    "Guide the plastic cup for drinks with the arm around <the white shampoo bottle> and onto <the light gray round grainy coaster>.",
+    "Lift the medium blue cylindrical cup, keep clear of the shampoo bottle with curved sides, and put the medium blue cylindrical cup down on the light gray round grainy coaster.",
+    "Lift the light blue plastic cup, route it away from the plastic shampoo bottle, then put the light blue plastic cup squarely on the round coaster.",
+    "Lift the smooth blue drinking cup, guide it past the plastic shampoo bottle, and rest the smooth blue drinking cup on the flat round wooden coaster.",
+    "Slide the rounded base blue cup toward the light gray streaked wooden coaster, detouring around the white and blue shampoo container, then set the rounded base blue cup down.",
+    "With an arm, pick the medium blue cylindrical cup up, bypass <the blue top shampoo bottle>, then place the medium blue cylindrical cup on <the coaster made of smooth wood>.",
+    "Take the cup for holding liquids, keep its path away from the plastic shampoo bottle, and drop the cup for holding liquids on the wooden coaster.",
+    "Use the arm to lift the medium blue cylindrical cup, pass the curved shampoo bottle, and place the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Move the medium-sized plastic blue cup onto the round coaster while avoiding the white shampoo bottle, then let go of the medium-sized plastic blue cup.",
+    "Carry the smooth blue drinking cup toward <the light gray round grainy coaster>, skirting <the bottle with hexagonal blue cap>, and set the smooth blue drinking cup down.",
+    "Lift the smooth blue drinking cup, go around the bottle with hexagonal blue cap, and position the smooth blue drinking cup squarely on the coaster with circular shape.",
+    "With an arm, lift the rounded base blue cup, avoid <the shampoo bottle with blue cap> on the way, and drop the rounded base blue cup on <the light gray round grainy coaster>.",
+    "Grab the rounded base blue cup, guide it away from the handheld shampoo container, and set the rounded base blue cup neatly on the small coaster with grain texture.",
+    "Use an arm to move the cylindrical light blue cup around the plastic shampoo bottle and rest the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Take the cup with light blue color, arc around <the plastic shampoo with orange label>, and place the cup with light blue color neatly on <the coaster made of smooth wood>.",
+    "Secure the plastic cup for drinks, move it around the bottle with smooth surface, and place the plastic cup for drinks squarely on the coaster with circular shape.",
+    "Lift the smooth blue drinking cup, guide it around <the white shampoo bottle>, then put the smooth blue drinking cup onto <the coaster with circular shape>.",
+    "Use an arm to bring the cylindrical light blue cup to the smooth round palm-sized coaster, keeping the cylindrical light blue cup clear of the plastic shampoo bottle.",
+    "With an arm, take the cup for holding liquids, avoid the plastic shampoo with orange label, and put the cup for holding liquids on the small coaster with grain texture.",
+    "With an arm, lift the smooth blue drinking cup, keep it away from the bottle with hexagonal blue cap, and drop it onto the small coaster with grain texture.",
+    "Pick up the cup with light blue color, guide it past the handheld shampoo container, and drop the cup with light blue color on the small coaster with grain texture.",
+    "Take the cup with light blue color, route it away from the white and blue shampoo container, and set the cup with light blue color onto the flat surface gray wooden coaster.",
+    "Using an arm, grasp the plastic cup for drinks, skirt the white and blue shampoo container, and place the plastic cup for drinks atop the round coaster with light streaks.",
+    "Use an arm to grab the plastic cup for drinks, avoid the shampoo bottle with curved sides, and set the plastic cup for drinks down on the light gray streaked wooden coaster.",
+    "Use an arm to lift the cup with light blue color, arc around the shampoo bottle with curved sides, and place the cup with light blue color atop the light gray streaked wooden coaster.",
+    "Move the smooth blue cup for liquids to the coaster with circular shape while avoiding the handheld shampoo container, then place the smooth blue cup for liquids on the coaster with circular shape.",
+    "Move the cup with smooth plastic surface to <the small coaster with grain texture> while keeping the cup with smooth plastic surface away from <the shampoo bottle with curved sides>, then release.",
+    "Use the arm to move the cup with light blue color past <the bottle with hexagonal blue cap> and rest it on <the flat surface gray wooden coaster>.",
+    "Use an arm: pick the cylindrical light blue cup up, skirt <the plastic shampoo bottle>, then place the cylindrical light blue cup onto <the light gray streaked wooden coaster>.",
+    "Use an arm to move the cup with smooth plastic surface to the smooth round palm-sized coaster, keeping the cup with smooth plastic surface from bumping the medium-sized white plastic shampoo.",
+    "Use an arm: grab the smooth blue cup for liquids, avoid the white shampoo bottle on the way, then set the smooth blue cup for liquids on the grainy texture coaster.",
+    "Use an arm: grasp the medium blue cylindrical cup, avoid <the white and blue shampoo container>, and place the medium blue cylindrical cup on <the grainy texture coaster>.",
+    "Use an arm, keep the rounded base blue cup from the curved shampoo bottle, and lower the rounded base blue cup onto the coaster with circular shape.",
+    "Pick up the cup with light blue color, route it away from the white and blue shampoo container, then set the cup with light blue color on the flat surface gray wooden coaster.",
+    "Use an arm, take the medium-sized plastic blue cup, avoid <the plastic shampoo with orange label> on the way, and set on <the coaster with circular shape>.",
+    "Lift the cup with light blue color, pass beside <the white shampoo bottle> without contact, then place the cup with light blue color onto <the coaster made of smooth wood>.",
+    "Use the arm to carry the cup with light blue color around the bottle with smooth surface, then rest the cup with light blue color on the flat round wooden coaster.",
+    "Take the cup with light blue color, keep its path away from the bottle with smooth surface, and place the cup with light blue color on the coaster with circular shape.",
+    "With an arm, lift the rounded base blue cup, route past <the plastic shampoo bottle>, and drop the rounded base blue cup onto <the flat round wooden coaster>.",
+    "Pick the medium-sized plastic blue cup up, route it away from the plastic shampoo with orange label, and drop the medium-sized plastic blue cup onto the flat round wooden coaster.",
+    "Move the plastic cup for drinks to the flat round wooden coaster without crossing the bottle with smooth surface, then release the plastic cup for drinks."
+  ],
+  "unseen": [
+    "Use an arm to grab the small smooth cup, steer around <the blue-capped shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the blue-capped shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the blue-capped shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the shampoo container in white and blue>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the blue-capped shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the blue-capped shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the blue-capped shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the white shampoo with orange design, then set the handheld round blue cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the white shampoo with orange design, and set it on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo container in white and blue>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the white shampoo with orange design>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container in white and blue, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the blue-capped shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the blue-capped shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the blue-capped shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the shampoo container in white and blue>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the blue-capped shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the white shampoo with orange design, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo container in white and blue, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container in white and blue>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the blue-capped shampoo bottle, and set it on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the white shampoo with orange design>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the blue-capped shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the white shampoo with orange design, and place it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the blue-capped shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the blue-capped shampoo bottle>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container in white and blue, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the white shampoo with orange design>, and place it on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the white shampoo with orange design, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo container in white and blue, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the shampoo container in white and blue, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container in white and blue>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container in white and blue, and set it on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the white shampoo with orange design>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container in white and blue>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo container in white and blue, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white shampoo with orange design, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the white shampoo with orange design, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container in white and blue>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the blue-capped shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, avoid the white shampoo with orange design, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the white shampoo with orange design>, and place it on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the white shampoo with orange design, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the white shampoo with orange design, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the blue-capped shampoo bottle, then set the blue cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container in white and blue>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container in white and blue, and set it on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the white shampoo with orange design>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container in white and blue, and place it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the white shampoo with orange design>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the white shampoo with orange design>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the white shampoo with orange design, and place the blue cup on the light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo container in white and blue>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo container in white and blue, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the white shampoo with orange design, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the white shampoo with orange design, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container in white and blue>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the white shampoo with orange design, and set it on the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the blue-capped shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container in white and blue>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container in white and blue, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the white shampoo with orange design>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the white shampoo with orange design, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the shampoo container in white and blue, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the blue-capped shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the white shampoo with orange design, then set the blue cup onto the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the blue-capped shampoo bottle>, and set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the blue-capped shampoo bottle, and set it on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the white shampoo with orange design>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the white shampoo with orange design>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the blue-capped shampoo bottle, and place it on the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode19.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dc6abbe8f09cc5be9cf891875b506c113463710
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm: grasp the rounded base blue cup, avoid <the shampoo bottle with white cap>, and place the rounded base blue cup on <the flat round wooden coaster>.",
+    "Take the medium blue cylindrical cup, arc around <the shampoo bottle with matte plastic>, and place the medium blue cylindrical cup neatly on <the grainy texture coaster>.",
+    "Secure the medium-sized plastic blue cup, move it around the hand-sized shampoo bottle, and place the medium-sized plastic blue cup squarely on the coaster with circular shape.",
+    "With an arm, bring the smooth blue cup for liquids over to <the round coaster with light streaks> and keep clear of <the blue shampoo bottle>.",
+    "Lift the blue rounded-bottom cup, pass by the small smooth shampoo bottle without contact, then place the blue rounded-bottom cup on the grainy texture coaster.",
+    "Use an arm to move the medium blue cylindrical cup around the shampoo bottle with matte plastic and rest the medium blue cylindrical cup on the coaster with circular shape.",
+    "Using an arm, carry the medium blue cylindrical cup past <the bottle of shampoo> and place the medium blue cylindrical cup squarely on <the coaster with circular shape>.",
+    "Using an arm, carry the medium-sized plastic blue cup around the curved light blue shampoo bottle and place the medium-sized plastic blue cup onto the flat surface gray wooden coaster.",
+    "Use an arm: grab the cylindrical light blue cup, avoid the small smooth shampoo bottle on the way, then set the cylindrical light blue cup on the round coaster with light streaks.",
+    "Lift the smooth blue drinking cup, pass beside <the shampoo bottle tapered toward cap> without contact, then place the smooth blue drinking cup onto <the round coaster>.",
+    "Pick up the medium-sized plastic blue cup, keep clear of <the hand-sized shampoo bottle>, and drop the medium-sized plastic blue cup onto <the light gray round grainy coaster>.",
+    "Move the cup with smooth plastic surface toward the coaster made of smooth wood without passing near the blue shampoo bottle slender design, then set it down.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid <the shampoo bottle flat bottom edge> on the way, and drop the medium-sized plastic blue cup on <the coaster with circular shape>.",
+    "Move the smooth blue drinking cup to the grainy texture coaster while avoiding the curved light blue shampoo bottle, then place the smooth blue drinking cup on the grainy texture coaster.",
+    "Use an arm to take the cup with light blue color around <the light blue shampoo bottle small size> and place the cup with light blue color on <the coaster with circular shape>.",
+    "Slide the blue rounded-bottom cup over to <the coaster with circular shape> without passing near <the shampoo bottle with matte plastic>.",
+    "Grab the light blue plastic cup, swing it away from <the shampoo bottle with matte plastic>, and place the light blue plastic cup on <the small coaster with grain texture>.",
+    "Use the arm to carry the cup for holding liquids around the curved light blue shampoo bottle, then rest the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Take the rounded base blue cup to the flat round wooden coaster while skirting the bottle of shampoo, then release the rounded base blue cup on the flat round wooden coaster.",
+    "With an arm, lift the medium-sized plastic blue cup, route past <the bottle of shampoo>, and drop the medium-sized plastic blue cup onto <the coaster with circular shape>.",
+    "Using an arm, move the smooth blue cup for liquids to <the flat round wooden coaster> while avoiding <the shampoo bottle flat bottom edge>, then release the smooth blue cup for liquids.",
+    "Use an arm, keep the medium-sized plastic blue cup from the blue shampoo bottle, and lower the medium-sized plastic blue cup onto the round coaster.",
+    "Pick up the blue rounded-bottom cup, avoid the curved light blue shampoo bottle along the way, and place the blue rounded-bottom cup on the flat round wooden coaster.",
+    "Lift the rounded base blue cup, guide it around <the bottle of shampoo>, then put the rounded base blue cup onto <the coaster made of smooth wood>.",
+    "With an arm, lift the medium blue cylindrical cup, keep it away from the bottle of shampoo, and drop it onto the flat surface gray wooden coaster.",
+    "Pick up the medium blue cylindrical cup, keep its path away from <the small smooth shampoo bottle>, and set the medium blue cylindrical cup on <the grainy texture coaster>.",
+    "Lift the cup with smooth plastic surface, steer away from <the shampoo bottle with white cap>, then place the cup with smooth plastic surface on <the round coaster>.",
+    "Pick the plastic cup for drinks up, route it away from the shampoo bottle with matte plastic, and drop the plastic cup for drinks onto the light gray round grainy coaster.",
+    "With an arm, lift the medium-sized plastic blue cup, guide it past the shampoo bottle with white cap, and put the medium-sized plastic blue cup on the flat round wooden coaster.",
+    "Using an arm, grasp the medium-sized plastic blue cup, skirt the light blue shampoo bottle small size, and place the medium-sized plastic blue cup atop the smooth round palm-sized coaster.",
+    "Take the light blue plastic cup, keep its path away from the curved light blue shampoo bottle, and place the light blue plastic cup on the coaster with circular shape.",
+    "Lift the smooth blue drinking cup, keep clear of the shampoo bottle tapered toward cap, and put the smooth blue drinking cup down on the coaster with circular shape.",
+    "Use an arm, take the medium-sized plastic blue cup past the blue shampoo bottle without nearing it, and rest the medium-sized plastic blue cup on the small coaster with grain texture.",
+    "Move the smooth blue cup for liquids to the coaster made of smooth wood without crossing the blue shampoo bottle, then release the smooth blue cup for liquids.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the curved light blue shampoo bottle, and set the blue rounded-bottom cup onto the flat surface gray wooden coaster.",
+    "Take the light blue plastic cup, guide it away from <the shampoo bottle flat bottom edge>, and place the light blue plastic cup squarely on <the round coaster>.",
+    "Pick up the medium blue cylindrical cup, guide it past the shampoo bottle with matte plastic, and drop the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Use an arm: pick the light blue plastic cup up, skirt <the shampoo bottle with white cap>, then place the light blue plastic cup onto <the coaster made of smooth wood>.",
+    "Use an arm, take the plastic cup for drinks, avoid <the blue shampoo bottle slender design> on the way, and set on <the round coaster>.",
+    "Pick up the medium-sized plastic blue cup, route it away from the blue shampoo bottle, then set the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "With an arm, lift the rounded base blue cup, avoid the shampoo bottle tapered toward cap, and place the rounded base blue cup on the light gray round grainy coaster.",
+    "Use an arm to move the rounded base blue cup to the flat surface gray wooden coaster, keeping the rounded base blue cup from bumping the shampoo bottle with white cap.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the blue shampoo bottle slender design, and place the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Guide the medium-sized plastic blue cup with the arm around <the curved light blue shampoo bottle> and onto <the flat surface gray wooden coaster>.",
+    "Lift the plastic cup for drinks, arc around the small smooth shampoo bottle, and place the plastic cup for drinks squarely on the light gray streaked wooden coaster.",
+    "Take the medium blue cylindrical cup in the arm, route around <the curved light blue shampoo bottle>, and set it on <the wooden coaster>.",
+    "Move the cylindrical light blue cup onto <the round coaster with light streaks> and ensure the path stays away from <the shampoo bottle with matte plastic>.",
+    "Use the arm to move the cup with smooth plastic surface past <the curved light blue shampoo bottle> and rest it on <the coaster made of smooth wood>.",
+    "Use an arm to lift the smooth blue cup for liquids, keep distance from <the shampoo bottle with white cap>, and set the smooth blue cup for liquids on <the small coaster with grain texture>.",
+    "Carry the smooth blue cup for liquids toward the wooden coaster, keeping the smooth blue cup for liquids away from the hand-sized shampoo bottle, then set down.",
+    "Use an arm, pick the smooth blue drinking cup up, pass around the light blue shampoo bottle small size, then place the smooth blue drinking cup on the small coaster with grain texture.",
+    "Lift the cup for holding liquids, guide it past the bottle of shampoo, and rest the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Using an arm, pick the cup with smooth plastic surface up, skirt the curved light blue shampoo bottle, and place the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Move the light blue plastic cup to <the coaster with circular shape> while keeping its path away from <the hand-sized shampoo bottle>.",
+    "Carry the cup with light blue color toward <the wooden coaster>, skirting <the shampoo bottle tapered toward cap>, and set the cup with light blue color down.",
+    "Arm-lift the plastic cup for drinks, swing around <the hand-sized shampoo bottle>, then place the plastic cup for drinks onto <the grainy texture coaster>.",
+    "With an arm, pick the medium blue cylindrical cup up, bypass <the hand-sized shampoo bottle>, then place the medium blue cylindrical cup on <the coaster made of smooth wood>.",
+    "With an arm, move the medium-sized plastic blue cup past the curved light blue shampoo bottle and place the medium-sized plastic blue cup on the grainy texture coaster.",
+    "Take the medium-sized plastic blue cup, swing wide of the shampoo bottle flat bottom edge, then rest the medium-sized plastic blue cup on the small coaster with grain texture.",
+    "Grab the smooth blue cup for liquids, guide it away from the shampoo bottle with white cap, and set the smooth blue cup for liquids neatly on the light gray streaked wooden coaster.",
+    "Carry the smooth blue drinking cup toward <the coaster with circular shape>, keeping clear of <the blue shampoo bottle slender design>, and set the smooth blue drinking cup down.",
+    "Carry the light blue plastic cup toward <the round coaster>, keeping the path clear of <the light blue shampoo bottle small size>, then set down.",
+    "Use an arm: take the light blue plastic cup, avoid the small smooth shampoo bottle during the move, and drop it on the light gray round grainy coaster.",
+    "Move the smooth blue drinking cup to <the flat surface gray wooden coaster> while keeping the smooth blue drinking cup away from <the shampoo bottle flat bottom edge>, then release.",
+    "Take the cup with smooth plastic surface, route it away from the small smooth shampoo bottle, and set the cup with smooth plastic surface onto the wooden coaster.",
+    "Use an arm to grab the medium blue cylindrical cup, avoid the blue shampoo bottle slender design, and set the medium blue cylindrical cup down on the wooden coaster.",
+    "Lift the cup with light blue color, carry it around the curved light blue shampoo bottle, and place the cup with light blue color squarely on the wooden coaster.",
+    "With an arm, take the smooth blue cup for liquids, avoid the light blue shampoo bottle small size, and put the smooth blue cup for liquids on the smooth round palm-sized coaster.",
+    "Move the rounded base blue cup onto the light gray round grainy coaster while avoiding the bottle light blue rounded shape, then let go of the rounded base blue cup.",
+    "Slide the cup for holding liquids toward the light gray streaked wooden coaster, detouring around the bottle of shampoo, then set the cup for holding liquids down.",
+    "Use an arm to lift the cup with smooth plastic surface, arc around the blue shampoo bottle, and place the cup with smooth plastic surface atop the coaster made of smooth wood.",
+    "Secure the blue rounded-bottom cup, keep its path away from the shampoo bottle flat bottom edge, and set the blue rounded-bottom cup on the smooth round palm-sized coaster.",
+    "Use an arm to bring the medium-sized plastic blue cup to the grainy texture coaster, keeping the medium-sized plastic blue cup clear of the blue shampoo bottle.",
+    "Use an arm to move the smooth blue drinking cup toward the smooth round palm-sized coaster, keeping the smooth blue drinking cup clear of the light blue shampoo bottle small size.",
+    "Lift the plastic cup for drinks, go around the small smooth shampoo bottle, and position the plastic cup for drinks squarely on the small coaster with grain texture.",
+    "Take the plastic cup for drinks, keep its path away from the blue shampoo bottle slender design, and drop the plastic cup for drinks on the light gray round grainy coaster.",
+    "Lift the rounded base blue cup, route it away from the curved light blue shampoo bottle, then put the rounded base blue cup squarely on the coaster with circular shape.",
+    "Grab the cup for holding liquids, route around the shampoo bottle with white cap, then lower the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Move the plastic cup for drinks onto the smooth round palm-sized coaster while avoiding the blue shampoo bottle slender design, then let go of the plastic cup for drinks.",
+    "Use the arm to lift the cylindrical light blue cup, pass the hand-sized shampoo bottle, and place the cylindrical light blue cup on the round coaster with light streaks.",
+    "Use an arm: grasp the light blue plastic cup, avoid <the small smooth shampoo bottle>, and place the light blue plastic cup on <the light gray streaked wooden coaster>.",
+    "Take the cup for holding liquids, arc around <the bottle light blue rounded shape>, and place the cup for holding liquids neatly on <the small coaster with grain texture>.",
+    "Secure the medium blue cylindrical cup, move it around the bottle of shampoo, and place the medium blue cylindrical cup squarely on the light gray streaked wooden coaster.",
+    "With an arm, bring the cup with smooth plastic surface over to <the small coaster with grain texture> and keep clear of <the curved light blue shampoo bottle>.",
+    "Lift the smooth blue drinking cup, pass by the bottle of shampoo without contact, then place the smooth blue drinking cup on the round coaster.",
+    "Use an arm to move the blue rounded-bottom cup around the hand-sized shampoo bottle and rest the blue rounded-bottom cup on the grainy texture coaster.",
+    "Using an arm, carry the medium blue cylindrical cup past <the light blue shampoo bottle small size> and place the medium blue cylindrical cup squarely on <the coaster with circular shape>.",
+    "Using an arm, carry the medium-sized plastic blue cup around the blue shampoo bottle and place the medium-sized plastic blue cup onto the coaster with circular shape.",
+    "Use an arm: grab the medium-sized plastic blue cup, avoid the hand-sized shampoo bottle on the way, then set the medium-sized plastic blue cup on the coaster with circular shape.",
+    "Lift the cup with smooth plastic surface, pass beside <the blue shampoo bottle slender design> without contact, then place the cup with smooth plastic surface onto <the flat round wooden coaster>.",
+    "Pick up the smooth blue drinking cup, keep clear of <the bottle of shampoo>, and drop the smooth blue drinking cup onto <the light gray streaked wooden coaster>.",
+    "Move the cup for holding liquids toward the flat round wooden coaster without passing near the bottle of shampoo, then set it down.",
+    "With an arm, lift the cup with light blue color, avoid <the shampoo bottle with white cap> on the way, and drop the cup with light blue color on <the round coaster with light streaks>.",
+    "Move the medium-sized plastic blue cup to the flat round wooden coaster while avoiding the shampoo bottle with white cap, then place the medium-sized plastic blue cup on the flat round wooden coaster.",
+    "Use an arm to take the smooth blue drinking cup around <the light blue shampoo bottle small size> and place the smooth blue drinking cup on <the flat round wooden coaster>.",
+    "Slide the smooth blue cup for liquids over to <the flat round wooden coaster> without passing near <the blue shampoo bottle>.",
+    "Grab the smooth blue cup for liquids, swing it away from <the small smooth shampoo bottle>, and place the smooth blue cup for liquids on <the small coaster with grain texture>.",
+    "Use the arm to carry the plastic cup for drinks around the shampoo bottle with white cap, then rest the plastic cup for drinks on the round coaster.",
+    "Take the plastic cup for drinks to the flat round wooden coaster while skirting the small smooth shampoo bottle, then release the plastic cup for drinks on the flat round wooden coaster.",
+    "With an arm, lift the cup with smooth plastic surface, route past <the shampoo bottle flat bottom edge>, and drop the cup with smooth plastic surface onto <the light gray round grainy coaster>."
+  ],
+  "unseen": [
+    "Grab the handheld round blue cup, carry it around the shampoo container white rounded top, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the oval light blue shampoo container, then set the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container white rounded top, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the oval light blue shampoo container>, and place it on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container white rounded top>, and set the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the smooth bottle containing shampoo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the smooth bottle containing shampoo, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the smooth bottle containing shampoo, and set it on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo container white rounded top, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the smooth bottle containing shampoo, and place it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the oval light blue shampoo container>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo container white rounded top, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the smooth bottle containing shampoo>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo container white rounded top, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container white rounded top, and place the blue cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the oval light blue shampoo container>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, guide it around <the smooth bottle containing shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the oval light blue shampoo container>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container white rounded top>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the smooth bottle containing shampoo, and set it on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the smooth bottle containing shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container white rounded top, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the smooth bottle containing shampoo>, and place the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the smooth bottle containing shampoo, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the smooth bottle containing shampoo>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the oval light blue shampoo container, then set the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the oval light blue shampoo container, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo container white rounded top>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the oval light blue shampoo container>, and place it on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the smooth bottle containing shampoo>, and set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the smooth bottle containing shampoo, and set it on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the smooth bottle containing shampoo, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the smooth bottle containing shampoo, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the oval light blue shampoo container>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the oval light blue shampoo container, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container white rounded top>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, steer it around the smooth bottle containing shampoo, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the smooth bottle containing shampoo, and place the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the smooth bottle containing shampoo>, and place it on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the oval light blue shampoo container>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the oval light blue shampoo container>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the oval light blue shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the oval light blue shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the oval light blue shampoo container, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container white rounded top>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo container white rounded top, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the smooth bottle containing shampoo>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the oval light blue shampoo container, then set the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container white rounded top, and place the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the oval light blue shampoo container>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, guide it around <the smooth bottle containing shampoo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the smooth bottle containing shampoo>, and set the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth bottle containing shampoo, and set the blue cup on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container white rounded top>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the oval light blue shampoo container, and set it on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the oval light blue shampoo container, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the oval light blue shampoo container, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the smooth bottle containing shampoo>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the shampoo container white rounded top, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the smooth bottle containing shampoo>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the oval light blue shampoo container, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the oval light blue shampoo container, and place the handheld round blue cup on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, guide it around <the smooth bottle containing shampoo>, and place it on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the oval light blue shampoo container>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container white rounded top>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container white rounded top, and set it on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep clear of the shampoo container white rounded top, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container white rounded top, and place it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container white rounded top>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo container white rounded top, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the smooth bottle containing shampoo>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, steer it around the smooth bottle containing shampoo, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the smooth bottle containing shampoo, and place the blue cup on the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode2.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..005ba5a21332d8e07cd8dcd91bfcb3453058706c
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm: pick the medium-sized plastic blue cup up, skirt <the handheld shampoo container>, then place the medium-sized plastic blue cup onto <the coaster made of smooth wood>.",
+    "Secure the plastic cup for drinks, move it around the curved shampoo bottle, and place the plastic cup for drinks squarely on the wooden coaster.",
+    "With an arm, lift the cup with smooth plastic surface, route past <the white and blue shampoo container>, and drop the cup with smooth plastic surface onto <the flat round wooden coaster>.",
+    "Take the smooth blue drinking cup, keep its path away from the white and blue shampoo container, and place the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "Lift the cup for holding liquids, guide it around <the bottle with smooth surface>, then put the cup for holding liquids onto <the small coaster with grain texture>.",
+    "Using an arm, move the medium blue cylindrical cup to <the grainy texture coaster> while avoiding <the white shampoo bottle>, then release the medium blue cylindrical cup.",
+    "Using an arm, grasp the cup with smooth plastic surface, skirt the shampoo bottle with blue cap, and place the cup with smooth plastic surface atop the round coaster.",
+    "Use an arm to lift the cup for holding liquids, arc around the plastic shampoo with orange label, and place the cup for holding liquids atop the light gray round grainy coaster.",
+    "Lift the medium-sized plastic blue cup, go around the shampoo bottle with blue cap, and position the medium-sized plastic blue cup squarely on the light gray streaked wooden coaster.",
+    "Pick the smooth blue drinking cup up, route it away from the white and blue shampoo container, and drop the smooth blue drinking cup onto the round coaster with light streaks.",
+    "With an arm, take the light blue plastic cup, avoid the bottle with smooth surface, and put the light blue plastic cup on the flat surface gray wooden coaster.",
+    "Lift the cup with smooth plastic surface, guide it past the white and blue shampoo container, and rest the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Secure the plastic cup for drinks, keep its path away from the shampoo bottle with blue cap, and set the plastic cup for drinks on the coaster with circular shape.",
+    "With an arm, lift the cup with light blue color, avoid the shampoo bottle with curved sides, and place the cup with light blue color on the light gray round grainy coaster.",
+    "Use an arm: grasp the plastic cup for drinks, avoid <the handheld shampoo container>, and place the plastic cup for drinks on <the flat surface gray wooden coaster>.",
+    "Grab the smooth blue drinking cup, route around the white and blue shampoo container, then lower the smooth blue drinking cup onto the smooth round palm-sized coaster.",
+    "Pick up the medium blue cylindrical cup, keep its path away from <the plastic shampoo with orange label>, and set the medium blue cylindrical cup on <the flat surface gray wooden coaster>.",
+    "Take the cup for holding liquids to the flat round wooden coaster while skirting the white shampoo bottle, then release the cup for holding liquids on the flat round wooden coaster.",
+    "Use an arm, take the rounded base blue cup, avoid <the plastic shampoo with orange label> on the way, and set on <the wooden coaster>.",
+    "Move the plastic cup for drinks to the grainy texture coaster without crossing the curved shampoo bottle, then release the plastic cup for drinks.",
+    "Use an arm, keep the medium blue cylindrical cup from the bottle with hexagonal blue cap, and lower the medium blue cylindrical cup onto the light gray round grainy coaster.",
+    "Move the light blue plastic cup toward the wooden coaster without passing near the curved shampoo bottle, then set it down.",
+    "Pick up the cylindrical light blue cup, guide it past the plastic shampoo bottle, and drop the cylindrical light blue cup on the flat surface gray wooden coaster.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the plastic shampoo with orange label, and set the cup with smooth plastic surface onto the wooden coaster.",
+    "Slide the light blue plastic cup over to <the small coaster with grain texture> without passing near <the shampoo bottle with blue cap>.",
+    "Take the smooth blue drinking cup, guide it away from <the white and blue shampoo container>, and place the smooth blue drinking cup squarely on <the grainy texture coaster>.",
+    "With an arm, bring the cup with light blue color over to <the light gray round grainy coaster> and keep clear of <the plastic shampoo with orange label>.",
+    "Carry the light blue plastic cup toward <the small coaster with grain texture>, skirting <the blue top shampoo bottle>, and set the light blue plastic cup down.",
+    "Move the cup with smooth plastic surface to <the small coaster with grain texture> while keeping its path away from <the bottle with smooth surface>.",
+    "Lift the rounded base blue cup, route it away from the bottle with smooth surface, then put the rounded base blue cup squarely on the coaster with circular shape.",
+    "Slide the cylindrical light blue cup toward the flat round wooden coaster, detouring around the curved shampoo bottle, then set the cylindrical light blue cup down.",
+    "Use an arm, take the smooth blue cup for liquids past the curved shampoo bottle without nearing it, and rest the smooth blue cup for liquids on the light gray streaked wooden coaster.",
+    "Use an arm to move the medium blue cylindrical cup around the bottle with smooth surface and rest the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Carry the cylindrical light blue cup toward the round coaster with light streaks, keeping the cylindrical light blue cup away from the shampoo bottle with blue cap, then set down.",
+    "Carry the medium-sized plastic blue cup toward <the round coaster>, keeping the path clear of <the bottle with smooth surface>, then set down.",
+    "Take the smooth blue cup for liquids, arc around <the medium-sized white plastic shampoo>, and place the smooth blue cup for liquids neatly on <the grainy texture coaster>.",
+    "Arm-lift the smooth blue drinking cup, swing around <the plastic shampoo with orange label>, then place the smooth blue drinking cup onto <the flat surface gray wooden coaster>.",
+    "Use an arm, pick the light blue plastic cup up, pass around the curved shampoo bottle, then place the light blue plastic cup on the small coaster with grain texture.",
+    "Move the cup for holding liquids onto <the grainy texture coaster> and ensure the path stays away from <the blue top shampoo bottle>.",
+    "Use the arm to lift the medium-sized plastic blue cup, pass the curved shampoo bottle, and place the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "Pick up the blue rounded-bottom cup, route it away from the shampoo bottle with curved sides, then set the blue rounded-bottom cup on the round coaster with light streaks.",
+    "With an arm, lift the smooth blue cup for liquids, keep it away from the shampoo bottle with blue cap, and drop it onto the wooden coaster.",
+    "Lift the medium blue cylindrical cup, pass beside <the white and blue shampoo container> without contact, then place the medium blue cylindrical cup onto <the smooth round palm-sized coaster>.",
+    "Using an arm, pick the cup with smooth plastic surface up, skirt the bottle with smooth surface, and place the cup with smooth plastic surface on the light gray streaked wooden coaster.",
+    "Grab the plastic cup for drinks, guide it away from the bottle with smooth surface, and set the plastic cup for drinks neatly on the grainy texture coaster.",
+    "Lift the medium blue cylindrical cup, pass by the plastic shampoo with orange label without contact, then place the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "With an arm, lift the smooth blue cup for liquids, avoid <the curved shampoo bottle> on the way, and drop the smooth blue cup for liquids on <the wooden coaster>.",
+    "Take the cup with light blue color, keep its path away from the curved shampoo bottle, and drop the cup with light blue color on the smooth round palm-sized coaster.",
+    "Using an arm, pick the medium blue cylindrical cup up, skirt the plastic shampoo bottle, and place the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Use the arm to move the cup with smooth plastic surface past <the shampoo bottle with curved sides> and rest it on <the flat round wooden coaster>.",
+    "Move the cup with smooth plastic surface to <the flat round wooden coaster> while keeping the cup with smooth plastic surface away from <the bottle with smooth surface>, then release.",
+    "Lift the cup with light blue color, carry it around the plastic shampoo with orange label, and place the cup with light blue color squarely on the round coaster with light streaks.",
+    "Carry the cup with light blue color toward <the flat round wooden coaster>, keeping clear of <the curved shampoo bottle>, and set the cup with light blue color down.",
+    "Lift the medium blue cylindrical cup, arc around the bottle with smooth surface, and place the medium blue cylindrical cup squarely on the flat round wooden coaster.",
+    "Pick up the medium-sized plastic blue cup, avoid the shampoo bottle with curved sides along the way, and place the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "Use an arm to move the cup with smooth plastic surface toward the round coaster with light streaks, keeping the cup with smooth plastic surface clear of the bottle with hexagonal blue cap.",
+    "Use an arm to move the light blue plastic cup to the light gray round grainy coaster, keeping the light blue plastic cup from bumping the curved shampoo bottle.",
+    "Using an arm, carry the light blue plastic cup around the plastic shampoo with orange label and place the light blue plastic cup onto the grainy texture coaster.",
+    "Grab the plastic cup for drinks, swing it away from <the plastic shampoo bottle>, and place the plastic cup for drinks on <the grainy texture coaster>.",
+    "Take the cup for holding liquids, swing wide of the bottle with smooth surface, then rest the cup for holding liquids on the light gray round grainy coaster.",
+    "Move the blue rounded-bottom cup onto the grainy texture coaster while avoiding the white shampoo bottle, then let go of the blue rounded-bottom cup.",
+    "Use an arm to lift the cylindrical light blue cup, keep distance from <the bottle with hexagonal blue cap>, and set the cylindrical light blue cup on <the light gray streaked wooden coaster>.",
+    "Use an arm to grab the cup for holding liquids, avoid the plastic shampoo with orange label, and set the cup for holding liquids down on the light gray round grainy coaster.",
+    "Using an arm, carry the light blue plastic cup past <the bottle with hexagonal blue cap> and place the light blue plastic cup squarely on <the round coaster with light streaks>.",
+    "With an arm, move the plastic cup for drinks past the shampoo bottle with curved sides and place the plastic cup for drinks on the coaster with circular shape.",
+    "Use the arm to carry the smooth blue cup for liquids around the handheld shampoo container, then rest the smooth blue cup for liquids on the wooden coaster.",
+    "Move the medium blue cylindrical cup onto the round coaster with light streaks while avoiding the blue top shampoo bottle, then let go of the medium blue cylindrical cup.",
+    "Take the rounded base blue cup, route it away from the shampoo bottle with blue cap, and set the rounded base blue cup onto the coaster with circular shape.",
+    "Use an arm to take the blue rounded-bottom cup around <the blue top shampoo bottle> and place the blue rounded-bottom cup on <the small coaster with grain texture>.",
+    "Take the smooth blue drinking cup in the arm, route around <the blue top shampoo bottle>, and set it on <the round coaster>.",
+    "Use an arm: take the smooth blue cup for liquids, avoid the blue top shampoo bottle during the move, and drop it on the flat surface gray wooden coaster.",
+    "With an arm, lift the smooth blue drinking cup, guide it past the shampoo bottle with curved sides, and put the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "Lift the rounded base blue cup, steer away from <the white shampoo bottle>, then place the rounded base blue cup on <the smooth round palm-sized coaster>.",
+    "Move the cup with light blue color to the round coaster with light streaks while avoiding the plastic shampoo with orange label, then place the cup with light blue color on the round coaster with light streaks.",
+    "With an arm, pick the rounded base blue cup up, bypass <the plastic shampoo bottle>, then place the rounded base blue cup on <the flat round wooden coaster>.",
+    "Use an arm to bring the plastic cup for drinks to the coaster made of smooth wood, keeping the plastic cup for drinks clear of the handheld shampoo container.",
+    "Use an arm: grab the cup with smooth plastic surface, avoid the curved shampoo bottle on the way, then set the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Guide the medium blue cylindrical cup with the arm around <the curved shampoo bottle> and onto <the wooden coaster>.",
+    "Pick up the light blue plastic cup, keep clear of <the medium-sized white plastic shampoo>, and drop the light blue plastic cup onto <the grainy texture coaster>.",
+    "Lift the cup with smooth plastic surface, keep clear of the bottle with hexagonal blue cap, and put the cup with smooth plastic surface down on the light gray streaked wooden coaster.",
+    "Use an arm: pick the smooth blue drinking cup up, skirt <the handheld shampoo container>, then place the smooth blue drinking cup onto <the coaster made of smooth wood>.",
+    "Secure the light blue plastic cup, move it around the bottle with hexagonal blue cap, and place the light blue plastic cup squarely on the flat round wooden coaster.",
+    "With an arm, lift the cup for holding liquids, route past <the bottle with hexagonal blue cap>, and drop the cup for holding liquids onto <the smooth round palm-sized coaster>.",
+    "Take the medium blue cylindrical cup, keep its path away from the curved shampoo bottle, and place the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Lift the medium blue cylindrical cup, guide it around <the bottle with smooth surface>, then put the medium blue cylindrical cup onto <the coaster made of smooth wood>.",
+    "Using an arm, move the smooth blue drinking cup to <the small coaster with grain texture> while avoiding <the plastic shampoo bottle>, then release the smooth blue drinking cup.",
+    "Using an arm, grasp the cup with smooth plastic surface, skirt the shampoo bottle with blue cap, and place the cup with smooth plastic surface atop the round coaster.",
+    "Use an arm to lift the rounded base blue cup, arc around the bottle with hexagonal blue cap, and place the rounded base blue cup atop the coaster made of smooth wood.",
+    "Lift the rounded base blue cup, go around the handheld shampoo container, and position the rounded base blue cup squarely on the flat surface gray wooden coaster.",
+    "Pick the cylindrical light blue cup up, route it away from the shampoo bottle with curved sides, and drop the cylindrical light blue cup onto the grainy texture coaster.",
+    "With an arm, take the medium blue cylindrical cup, avoid the handheld shampoo container, and put the medium blue cylindrical cup on the coaster with circular shape.",
+    "Lift the plastic cup for drinks, guide it past the shampoo bottle with curved sides, and rest the plastic cup for drinks on the light gray round grainy coaster.",
+    "Secure the cylindrical light blue cup, keep its path away from the plastic shampoo bottle, and set the cylindrical light blue cup on the coaster made of smooth wood.",
+    "With an arm, lift the cup with light blue color, avoid the blue top shampoo bottle, and place the cup with light blue color on the coaster made of smooth wood.",
+    "Use an arm: grasp the rounded base blue cup, avoid <the blue top shampoo bottle>, and place the rounded base blue cup on <the small coaster with grain texture>.",
+    "Grab the light blue plastic cup, route around the white and blue shampoo container, then lower the light blue plastic cup onto the smooth round palm-sized coaster.",
+    "Pick up the light blue plastic cup, keep its path away from <the white and blue shampoo container>, and set the light blue plastic cup on <the smooth round palm-sized coaster>.",
+    "Take the blue rounded-bottom cup to the flat surface gray wooden coaster while skirting the curved shampoo bottle, then release the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Use an arm, take the medium blue cylindrical cup, avoid <the blue top shampoo bottle> on the way, and set on <the flat round wooden coaster>.",
+    "Move the smooth blue cup for liquids to the grainy texture coaster without crossing the bottle with hexagonal blue cap, then release the smooth blue cup for liquids."
+  ],
+  "unseen": [
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white shampoo with orange design>, and place the small smooth cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the blue-capped shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the shampoo container in white and blue, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the white shampoo with orange design, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container in white and blue>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the white shampoo with orange design>, and set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the white shampoo with orange design, and place the small smooth cup on the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo container in white and blue>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the blue-capped shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the white shampoo with orange design, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo container in white and blue, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container in white and blue, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the blue-capped shampoo bottle>, and place the small smooth cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the white shampoo with orange design>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the shampoo container in white and blue, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the white shampoo with orange design, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the white shampoo with orange design>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the white shampoo with orange design, and place the blue cup on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white shampoo with orange design>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the blue-capped shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the shampoo container in white and blue>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the blue-capped shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the white shampoo with orange design, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the white shampoo with orange design>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the blue-capped shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo container in white and blue, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container in white and blue, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container in white and blue>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the blue-capped shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, avoid the white shampoo with orange design, and place the blue cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the white shampoo with orange design>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the blue-capped shampoo bottle, and set it on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo container in white and blue>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the blue-capped shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo container in white and blue, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the blue-capped shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, carry it around the shampoo container in white and blue, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the blue-capped shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the blue-capped shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the blue-capped shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container in white and blue, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container in white and blue>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the white shampoo with orange design, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the blue-capped shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo container in white and blue, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the blue-capped shampoo bottle, then set the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white shampoo with orange design, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container in white and blue>, and place the blue cup on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container in white and blue>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the blue-capped shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the white shampoo with orange design, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the white shampoo with orange design>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the blue-capped shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container in white and blue, and place the handheld round blue cup on the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the white shampoo with orange design>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the blue-capped shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the blue-capped shampoo bottle>, and place it on <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo container in white and blue, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the white shampoo with orange design, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container in white and blue>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the blue-capped shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container in white and blue, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the blue-capped shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the white shampoo with orange design, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container in white and blue>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the white shampoo with orange design>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the blue-capped shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container in white and blue>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container in white and blue, and set it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the blue-capped shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container in white and blue, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo container in white and blue, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the white shampoo with orange design>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the blue-capped shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode20.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..820790d27766260a241e6d857285a30a643bf60f
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the plastic cup for drinks, keep its path away from the shampoo bottle with pink cap, and set the plastic cup for drinks on the round coaster with light streaks.",
+    "Take the plastic cup for drinks, keep its path away from the glossy white shampoo bottle, and drop the plastic cup for drinks on the wooden coaster.",
+    "Take the rounded base blue cup, arc around <the plastic shampoo container>, and place the rounded base blue cup neatly on <the light gray streaked wooden coaster>.",
+    "Pick the medium blue cylindrical cup up, route it away from the medium oval plastic shampoo container, and drop the medium blue cylindrical cup onto the coaster made of smooth wood.",
+    "Lift the cup for holding liquids, guide it past the shampoo bottle with pink cap, and rest the cup for holding liquids on the light gray round grainy coaster.",
+    "Take the medium-sized plastic blue cup to the coaster with circular shape while skirting the medium shampoo bottle, then release the medium-sized plastic blue cup on the coaster with circular shape.",
+    "With an arm, lift the blue rounded-bottom cup, keep it away from the white shampoo bottle, and drop it onto the light gray round grainy coaster.",
+    "Grab the light blue plastic cup, swing it away from <the oval-shaped shampoo bottle>, and place the light blue plastic cup on <the smooth round palm-sized coaster>.",
+    "Move the cup with light blue color to <the round coaster with light streaks> while keeping the cup with light blue color away from <the plastic shampoo container>, then release.",
+    "Grab the cup with light blue color, guide it away from the white body pink flip cap bottle, and set the cup with light blue color neatly on the coaster with circular shape.",
+    "Take the cup for holding liquids, guide it away from <the shampoo bottle with pink cap>, and place the cup for holding liquids squarely on <the light gray streaked wooden coaster>.",
+    "Using an arm, move the rounded base blue cup to <the round coaster> while avoiding <the pink-topped shampoo bottle>, then release the rounded base blue cup.",
+    "With an arm, lift the cup for holding liquids, guide it past the smooth white shampoo dispenser, and put the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Carry the smooth blue cup for liquids toward the round coaster with light streaks, keeping the smooth blue cup for liquids away from the hand-sized shampoo bottle, then set down.",
+    "With an arm, bring the cup with light blue color over to <the wooden coaster> and keep clear of <the pink-topped shampoo bottle>.",
+    "Move the light blue plastic cup toward the round coaster with light streaks without passing near the medium shampoo bottle, then set it down.",
+    "Use an arm to lift the cup with smooth plastic surface, arc around the smooth white shampoo dispenser, and place the cup with smooth plastic surface atop the wooden coaster.",
+    "Use an arm to move the cup with smooth plastic surface toward the round coaster with light streaks, keeping the cup with smooth plastic surface clear of the white shampoo bottle.",
+    "Use an arm to bring the cup for holding liquids to the coaster made of smooth wood, keeping the cup for holding liquids clear of the plastic shampoo container.",
+    "Slide the cup with smooth plastic surface over to <the smooth round palm-sized coaster> without passing near <the pink-topped shampoo bottle>.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid the oval-shaped shampoo bottle, and set the medium-sized plastic blue cup onto the flat round wooden coaster.",
+    "With an arm, lift the cup with light blue color, route past <the shampoo bottle with pink cap>, and drop the cup with light blue color onto <the round coaster with light streaks>.",
+    "Lift the light blue plastic cup, route it away from the white body pink flip cap bottle, then put the light blue plastic cup squarely on the coaster with circular shape.",
+    "Take the cup for holding liquids, route it away from the smooth white shampoo dispenser, and set the cup for holding liquids onto the small coaster with grain texture.",
+    "Pick up the light blue plastic cup, avoid the shampoo dispenser with flat base along the way, and place the light blue plastic cup on the coaster with circular shape.",
+    "Use an arm to move the medium-sized plastic blue cup to the light gray streaked wooden coaster, keeping the medium-sized plastic blue cup from bumping the shampoo bottle with pink cap.",
+    "Lift the plastic cup for drinks, carry it around the oval-shaped shampoo bottle, and place the plastic cup for drinks squarely on the flat surface gray wooden coaster.",
+    "Use an arm: pick the medium blue cylindrical cup up, skirt <the smooth white shampoo dispenser>, then place the medium blue cylindrical cup onto <the wooden coaster>.",
+    "Move the smooth blue drinking cup onto <the round coaster> and ensure the path stays away from <the smooth white shampoo dispenser>.",
+    "Pick up the medium-sized plastic blue cup, route it away from the glossy white shampoo bottle, then set the medium-sized plastic blue cup on the round coaster with light streaks.",
+    "Move the cup with light blue color to the flat round wooden coaster while avoiding the smooth white shampoo dispenser, then place the cup with light blue color on the flat round wooden coaster.",
+    "Use an arm to grab the cylindrical light blue cup, avoid the medium oval plastic shampoo container, and set the cylindrical light blue cup down on the wooden coaster.",
+    "Use an arm: take the light blue plastic cup, avoid the white body pink flip cap bottle during the move, and drop it on the flat round wooden coaster.",
+    "Use an arm to move the rounded base blue cup around the white shampoo bottle and rest the rounded base blue cup on the round coaster with light streaks.",
+    "With an arm, take the blue rounded-bottom cup, avoid the glossy white shampoo bottle, and put the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "Use the arm to lift the medium blue cylindrical cup, pass the white shampoo bottle, and place the medium blue cylindrical cup on the grainy texture coaster.",
+    "Using an arm, carry the blue rounded-bottom cup past <the medium oval plastic shampoo container> and place the blue rounded-bottom cup squarely on <the wooden coaster>.",
+    "Take the smooth blue drinking cup, swing wide of the glossy white shampoo bottle, then rest the smooth blue drinking cup on the wooden coaster.",
+    "Use an arm, take the light blue plastic cup, avoid <the glossy white shampoo bottle> on the way, and set on <the light gray streaked wooden coaster>.",
+    "Lift the cylindrical light blue cup, pass by the medium oval plastic shampoo container without contact, then place the cylindrical light blue cup on the flat round wooden coaster.",
+    "Pick up the blue rounded-bottom cup, guide it past the oval-shaped shampoo bottle, and drop the blue rounded-bottom cup on the smooth round palm-sized coaster.",
+    "With an arm, move the medium blue cylindrical cup past the medium shampoo bottle and place the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Use an arm, pick the plastic cup for drinks up, pass around the white body pink flip cap bottle, then place the plastic cup for drinks on the small coaster with grain texture.",
+    "With an arm, lift the smooth blue cup for liquids, avoid the white shampoo bottle, and place the smooth blue cup for liquids on the round coaster.",
+    "Using an arm, grasp the rounded base blue cup, skirt the shampoo dispenser with flat base, and place the rounded base blue cup atop the light gray round grainy coaster.",
+    "Lift the cup with light blue color, guide it around <the medium shampoo bottle>, then put the cup with light blue color onto <the wooden coaster>.",
+    "Arm-lift the smooth blue drinking cup, swing around <the medium oval plastic shampoo container>, then place the smooth blue drinking cup onto <the round coaster>.",
+    "Use an arm to take the blue rounded-bottom cup around <the white shampoo bottle> and place the blue rounded-bottom cup on <the grainy texture coaster>.",
+    "Lift the cup for holding liquids, arc around the shampoo dispenser with flat base, and place the cup for holding liquids squarely on the coaster made of smooth wood.",
+    "Take the plastic cup for drinks, keep its path away from the plastic shampoo container, and place the plastic cup for drinks on the smooth round palm-sized coaster.",
+    "Secure the light blue plastic cup, move it around the plastic shampoo container, and place the light blue plastic cup squarely on the light gray round grainy coaster.",
+    "Use the arm to move the smooth blue cup for liquids past <the smooth white shampoo dispenser> and rest it on <the light gray round grainy coaster>.",
+    "Lift the cylindrical light blue cup, keep clear of the oval-shaped shampoo bottle, and put the cylindrical light blue cup down on the round coaster.",
+    "Using an arm, pick the cup with light blue color up, skirt the medium shampoo bottle, and place the cup with light blue color on the grainy texture coaster.",
+    "Carry the cup for holding liquids toward <the flat surface gray wooden coaster>, keeping the path clear of <the shampoo bottle with pink cap>, then set down.",
+    "Lift the cup with light blue color, go around the white shampoo bottle, and position the cup with light blue color squarely on the flat round wooden coaster.",
+    "Use an arm, take the cup with light blue color past the oval-shaped shampoo bottle without nearing it, and rest the cup with light blue color on the coaster made of smooth wood.",
+    "Move the medium blue cylindrical cup onto the round coaster with light streaks while avoiding the pink-topped shampoo bottle, then let go of the medium blue cylindrical cup.",
+    "Carry the smooth blue drinking cup toward <the wooden coaster>, skirting <the white shampoo bottle>, and set the smooth blue drinking cup down.",
+    "Move the smooth blue cup for liquids onto the wooden coaster while avoiding the shampoo bottle with pink cap, then let go of the smooth blue cup for liquids.",
+    "Pick up the cup with smooth plastic surface, keep its path away from <the white body pink flip cap bottle>, and set the cup with smooth plastic surface on <the wooden coaster>.",
+    "Lift the rounded base blue cup, steer away from <the medium oval plastic shampoo container>, then place the rounded base blue cup on <the grainy texture coaster>.",
+    "Use an arm: grab the cup for holding liquids, avoid the glossy white shampoo bottle on the way, then set the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Use an arm: grasp the cup for holding liquids, avoid <the oval-shaped shampoo bottle>, and place the cup for holding liquids on <the round coaster with light streaks>.",
+    "With an arm, lift the light blue plastic cup, avoid <the white body pink flip cap bottle> on the way, and drop the light blue plastic cup on <the smooth round palm-sized coaster>.",
+    "Use an arm, keep the plastic cup for drinks from the smooth white shampoo dispenser, and lower the plastic cup for drinks onto the smooth round palm-sized coaster.",
+    "Lift the cup with light blue color, pass beside <the white shampoo bottle> without contact, then place the cup with light blue color onto <the coaster made of smooth wood>.",
+    "Move the cup with smooth plastic surface to the smooth round palm-sized coaster without crossing the white body pink flip cap bottle, then release the cup with smooth plastic surface.",
+    "Grab the rounded base blue cup, route around the smooth white shampoo dispenser, then lower the rounded base blue cup onto the flat surface gray wooden coaster.",
+    "Using an arm, carry the smooth blue drinking cup around the shampoo dispenser with flat base and place the smooth blue drinking cup onto the wooden coaster.",
+    "Slide the cup for holding liquids toward the small coaster with grain texture, detouring around the medium shampoo bottle, then set the cup for holding liquids down.",
+    "Use an arm to lift the cup with smooth plastic surface, keep distance from <the smooth white shampoo dispenser>, and set the cup with smooth plastic surface on <the coaster with circular shape>.",
+    "Take the light blue plastic cup in the arm, route around <the smooth white shampoo dispenser>, and set it on <the round coaster with light streaks>.",
+    "Using an arm, pick the smooth blue drinking cup up, skirt the plastic shampoo container, and place the smooth blue drinking cup on the round coaster with light streaks.",
+    "Guide the smooth blue drinking cup with the arm around <the smooth white shampoo dispenser> and onto <the flat surface gray wooden coaster>.",
+    "Pick up the smooth blue cup for liquids, keep clear of <the oval-shaped shampoo bottle>, and drop the smooth blue cup for liquids onto <the round coaster>.",
+    "With an arm, pick the light blue plastic cup up, bypass <the medium oval plastic shampoo container>, then place the light blue plastic cup on <the flat surface gray wooden coaster>.",
+    "Move the medium-sized plastic blue cup to <the light gray round grainy coaster> while keeping its path away from <the glossy white shampoo bottle>.",
+    "Carry the smooth blue drinking cup toward <the round coaster>, keeping clear of <the medium oval plastic shampoo container>, and set the smooth blue drinking cup down.",
+    "Use the arm to carry the smooth blue drinking cup around the hand-sized shampoo bottle, then rest the smooth blue drinking cup on the flat round wooden coaster.",
+    "Secure the plastic cup for drinks, keep its path away from the white body pink flip cap bottle, and set the plastic cup for drinks on the flat round wooden coaster.",
+    "Take the smooth blue drinking cup, keep its path away from the white body pink flip cap bottle, and drop the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "Take the cup for holding liquids, arc around <the hand-sized shampoo bottle>, and place the cup for holding liquids neatly on <the flat round wooden coaster>.",
+    "Pick the cup with smooth plastic surface up, route it away from the oval-shaped shampoo bottle, and drop the cup with smooth plastic surface onto the light gray streaked wooden coaster.",
+    "Lift the medium blue cylindrical cup, guide it past the pink-topped shampoo bottle, and rest the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Take the smooth blue drinking cup to the round coaster while skirting the glossy white shampoo bottle, then release the smooth blue drinking cup on the round coaster.",
+    "With an arm, lift the cup for holding liquids, keep it away from the pink-topped shampoo bottle, and drop it onto the flat surface gray wooden coaster.",
+    "Grab the cylindrical light blue cup, swing it away from <the glossy white shampoo bottle>, and place the cylindrical light blue cup on <the light gray streaked wooden coaster>.",
+    "Move the cup for holding liquids to <the flat surface gray wooden coaster> while keeping the cup for holding liquids away from <the pink-topped shampoo bottle>, then release.",
+    "Grab the plastic cup for drinks, guide it away from the medium shampoo bottle, and set the plastic cup for drinks neatly on the smooth round palm-sized coaster.",
+    "Take the smooth blue drinking cup, guide it away from <the oval-shaped shampoo bottle>, and place the smooth blue drinking cup squarely on <the coaster with circular shape>.",
+    "Using an arm, move the smooth blue cup for liquids to <the light gray round grainy coaster> while avoiding <the smooth white shampoo dispenser>, then release the smooth blue cup for liquids.",
+    "With an arm, lift the rounded base blue cup, guide it past the smooth white shampoo dispenser, and put the rounded base blue cup on the grainy texture coaster.",
+    "Carry the rounded base blue cup toward the round coaster with light streaks, keeping the rounded base blue cup away from the white shampoo bottle, then set down.",
+    "With an arm, bring the plastic cup for drinks over to <the wooden coaster> and keep clear of <the oval-shaped shampoo bottle>.",
+    "Move the plastic cup for drinks toward the wooden coaster without passing near the hand-sized shampoo bottle, then set it down.",
+    "Use an arm to lift the medium blue cylindrical cup, arc around the pink-topped shampoo bottle, and place the medium blue cylindrical cup atop the round coaster with light streaks.",
+    "Use an arm to move the cup with smooth plastic surface toward the flat round wooden coaster, keeping the cup with smooth plastic surface clear of the oval-shaped shampoo bottle.",
+    "Use an arm to bring the cup with smooth plastic surface to the light gray round grainy coaster, keeping the cup with smooth plastic surface clear of the glossy white shampoo bottle.",
+    "Slide the rounded base blue cup over to <the light gray round grainy coaster> without passing near <the medium shampoo bottle>."
+  ],
+  "unseen": [
+    "Grab the small smooth cup, keep it clear of the bottle for holding shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the bottle for holding shampoo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the bottle for holding shampoo, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo bottle with Dove logo, then set the blue cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the bottle for holding shampoo, then set the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the Dove shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the bottle for holding shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the Dove shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the bottle for holding shampoo, then place the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with Dove logo, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with Dove logo, and place it on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the bottle for holding shampoo>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around <the bottle for holding shampoo>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set it on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the Dove shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with Dove logo>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the bottle for holding shampoo, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the bottle for holding shampoo, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the Dove shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the bottle for holding shampoo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with Dove logo>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the Dove shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the bottle for holding shampoo, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with Dove logo, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with Dove logo>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the Dove shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle with Dove logo, and set it on the light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo bottle with Dove logo>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with Dove logo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the bottle for holding shampoo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the bottle for holding shampoo, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with Dove logo, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the bottle for holding shampoo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the Dove shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the Dove shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the Dove shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with Dove logo, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the Dove shampoo bottle, and place it on the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the Dove shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the bottle for holding shampoo>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle with Dove logo, and set it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the Dove shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the bottle for holding shampoo, then place the small smooth cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the bottle for holding shampoo>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the Dove shampoo bottle, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the Dove shampoo bottle, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the bottle for holding shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the Dove shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the bottle for holding shampoo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with Dove logo>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the Dove shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the Dove shampoo bottle, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with Dove logo, and place it on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the bottle for holding shampoo>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the bottle for holding shampoo>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the Dove shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the shampoo bottle with Dove logo>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the bottle for holding shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the bottle for holding shampoo>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the shampoo bottle with Dove logo, then set the blue cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the Dove shampoo bottle, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the Dove shampoo bottle>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the Dove shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the Dove shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with Dove logo, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with Dove logo, and place it on the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the Dove shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the Dove shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the bottle for holding shampoo, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the bottle for holding shampoo>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the bottle for holding shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with Dove logo>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the Dove shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the bottle for holding shampoo, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the bottle for holding shampoo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the bottle for holding shampoo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the Dove shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the bottle for holding shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the bottle for holding shampoo, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the bottle for holding shampoo, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the Dove shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the shampoo bottle with Dove logo>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the bottle for holding shampoo, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the Dove shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with Dove logo>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the bottle for holding shampoo, then set the handheld round blue cup down on the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode21.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8b59712623d52929a92261ed2992b336fcce29c
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm, keep the medium blue cylindrical cup from the hand-sized shampoo bottle, and lower the medium blue cylindrical cup onto the round coaster with light streaks.",
+    "Using an arm, pick the light blue plastic cup up, skirt the blue shampoo bottle, and place the light blue plastic cup on the coaster made of smooth wood.",
+    "With an arm, lift the cup with light blue color, avoid the hand-sized shampoo bottle, and set the cup with light blue color onto the grainy texture coaster.",
+    "Lift the smooth blue drinking cup, go around the light blue shampoo bottle small size, and position the smooth blue drinking cup squarely on the small coaster with grain texture.",
+    "With an arm, lift the light blue plastic cup, avoid <the shampoo bottle tapered toward cap> on the way, and drop the light blue plastic cup on <the coaster with circular shape>.",
+    "Use an arm to move the cylindrical light blue cup around the curved light blue shampoo bottle and rest the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Carry the smooth blue cup for liquids toward <the grainy texture coaster>, keeping clear of <the bottle of shampoo>, and set the smooth blue cup for liquids down.",
+    "Arm-lift the smooth blue cup for liquids, swing around <the bottle of shampoo>, then place the smooth blue cup for liquids onto <the wooden coaster>.",
+    "Use an arm, take the cup for holding liquids past the shampoo bottle with white cap without nearing it, and rest the cup for holding liquids on the grainy texture coaster.",
+    "Take the cylindrical light blue cup, keep its path away from the shampoo bottle with white cap, and place the cylindrical light blue cup on the round coaster with light streaks.",
+    "Secure the medium blue cylindrical cup, move it around the light blue shampoo bottle small size, and place the medium blue cylindrical cup squarely on the light gray round grainy coaster.",
+    "Carry the smooth blue drinking cup toward <the coaster with circular shape>, skirting <the shampoo bottle flat bottom edge>, and set the smooth blue drinking cup down.",
+    "Using an arm, pick the plastic cup for drinks up, skirt the shampoo bottle with matte plastic, and place the plastic cup for drinks on the round coaster.",
+    "With an arm, take the rounded base blue cup, avoid the blue shampoo bottle slender design, and put the rounded base blue cup on the grainy texture coaster.",
+    "Lift the smooth blue drinking cup, route it away from the hand-sized shampoo bottle, then put the smooth blue drinking cup squarely on the wooden coaster.",
+    "Use an arm to lift the cup for holding liquids, keep distance from <the shampoo bottle flat bottom edge>, and set the cup for holding liquids on <the small coaster with grain texture>.",
+    "With an arm, move the light blue plastic cup past the curved light blue shampoo bottle and place the light blue plastic cup on the flat round wooden coaster.",
+    "Move the plastic cup for drinks to the light gray streaked wooden coaster while avoiding the bottle light blue rounded shape, then place the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Move the light blue plastic cup to <the flat surface gray wooden coaster> while keeping its path away from <the blue shampoo bottle>.",
+    "Lift the cup with light blue color, arc around the shampoo bottle flat bottom edge, and place the cup with light blue color squarely on the smooth round palm-sized coaster.",
+    "Use the arm to carry the rounded base blue cup around the shampoo bottle with matte plastic, then rest the rounded base blue cup on the wooden coaster.",
+    "Move the cylindrical light blue cup onto <the round coaster with light streaks> and ensure the path stays away from <the small smooth shampoo bottle>.",
+    "Use an arm to move the light blue plastic cup to the smooth round palm-sized coaster, keeping the light blue plastic cup from bumping the bottle of shampoo.",
+    "Carry the light blue plastic cup toward the wooden coaster, keeping the light blue plastic cup away from the curved light blue shampoo bottle, then set down.",
+    "Use the arm to move the smooth blue drinking cup past <the shampoo bottle tapered toward cap> and rest it on <the grainy texture coaster>.",
+    "Pick up the blue rounded-bottom cup, keep clear of <the bottle of shampoo>, and drop the blue rounded-bottom cup onto <the flat round wooden coaster>.",
+    "Pick up the blue rounded-bottom cup, avoid the shampoo bottle with matte plastic along the way, and place the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Take the plastic cup for drinks, guide it away from <the hand-sized shampoo bottle>, and place the plastic cup for drinks squarely on <the coaster made of smooth wood>.",
+    "Take the cup for holding liquids in the arm, route around <the shampoo bottle tapered toward cap>, and set it on <the coaster with circular shape>.",
+    "Use an arm to bring the medium blue cylindrical cup to the smooth round palm-sized coaster, keeping the medium blue cylindrical cup clear of the shampoo bottle tapered toward cap.",
+    "Move the blue rounded-bottom cup to the round coaster with light streaks without crossing the shampoo bottle flat bottom edge, then release the blue rounded-bottom cup.",
+    "Take the smooth blue cup for liquids, keep its path away from the light blue shampoo bottle small size, and drop the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Lift the medium blue cylindrical cup, pass beside <the curved light blue shampoo bottle> without contact, then place the medium blue cylindrical cup onto <the coaster with circular shape>.",
+    "Pick up the cup for holding liquids, route it away from the curved light blue shampoo bottle, then set the cup for holding liquids on the coaster made of smooth wood.",
+    "Lift the cup with light blue color, pass by the bottle light blue rounded shape without contact, then place the cup with light blue color on the flat round wooden coaster.",
+    "Carry the smooth blue cup for liquids toward <the flat surface gray wooden coaster>, keeping the path clear of <the shampoo bottle tapered toward cap>, then set down.",
+    "Using an arm, move the rounded base blue cup to <the flat surface gray wooden coaster> while avoiding <the bottle of shampoo>, then release the rounded base blue cup.",
+    "Lift the cup for holding liquids, keep clear of the shampoo bottle with white cap, and put the cup for holding liquids down on the coaster made of smooth wood.",
+    "Use an arm: grasp the cup for holding liquids, avoid <the shampoo bottle flat bottom edge>, and place the cup for holding liquids on <the grainy texture coaster>.",
+    "With an arm, pick the smooth blue drinking cup up, bypass <the bottle light blue rounded shape>, then place the smooth blue drinking cup on <the wooden coaster>.",
+    "Move the smooth blue drinking cup onto the round coaster with light streaks while avoiding the small smooth shampoo bottle, then let go of the smooth blue drinking cup.",
+    "Slide the smooth blue cup for liquids over to <the round coaster> without passing near <the curved light blue shampoo bottle>.",
+    "Guide the plastic cup for drinks with the arm around <the small smooth shampoo bottle> and onto <the flat surface gray wooden coaster>.",
+    "Use an arm to take the smooth blue cup for liquids around <the small smooth shampoo bottle> and place the smooth blue cup for liquids on <the round coaster>.",
+    "Use an arm: grab the cup with light blue color, avoid the shampoo bottle with white cap on the way, then set the cup with light blue color on the small coaster with grain texture.",
+    "Pick up the cup for holding liquids, keep its path away from <the bottle light blue rounded shape>, and set the cup for holding liquids on <the grainy texture coaster>.",
+    "Pick the medium blue cylindrical cup up, route it away from the hand-sized shampoo bottle, and drop the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Take the cup with light blue color, arc around <the shampoo bottle with white cap>, and place the cup with light blue color neatly on <the round coaster with light streaks>.",
+    "With an arm, bring the cylindrical light blue cup over to <the wooden coaster> and keep clear of <the bottle of shampoo>.",
+    "Secure the cup with light blue color, keep its path away from the shampoo bottle flat bottom edge, and set the cup with light blue color on the light gray round grainy coaster.",
+    "Use an arm to lift the rounded base blue cup, arc around the bottle of shampoo, and place the rounded base blue cup atop the wooden coaster.",
+    "Lift the rounded base blue cup, steer away from <the shampoo bottle tapered toward cap>, then place the rounded base blue cup on <the flat surface gray wooden coaster>.",
+    "Take the cylindrical light blue cup, swing wide of the shampoo bottle flat bottom edge, then rest the cylindrical light blue cup on the round coaster with light streaks.",
+    "Use the arm to lift the blue rounded-bottom cup, pass the curved light blue shampoo bottle, and place the blue rounded-bottom cup on the round coaster.",
+    "Using an arm, carry the blue rounded-bottom cup around the hand-sized shampoo bottle and place the blue rounded-bottom cup onto the round coaster.",
+    "With an arm, lift the medium blue cylindrical cup, keep it away from the hand-sized shampoo bottle, and drop it onto the round coaster with light streaks.",
+    "Lift the smooth blue drinking cup, guide it around <the light blue shampoo bottle small size>, then put the smooth blue drinking cup onto <the coaster with circular shape>.",
+    "Use an arm, pick the plastic cup for drinks up, pass around the blue shampoo bottle slender design, then place the plastic cup for drinks on the round coaster.",
+    "Grab the cylindrical light blue cup, guide it away from the shampoo bottle with matte plastic, and set the cylindrical light blue cup neatly on the flat surface gray wooden coaster.",
+    "With an arm, lift the light blue plastic cup, avoid the blue shampoo bottle, and place the light blue plastic cup on the grainy texture coaster.",
+    "With an arm, lift the plastic cup for drinks, guide it past the shampoo bottle tapered toward cap, and put the plastic cup for drinks on the coaster made of smooth wood.",
+    "Using an arm, grasp the cylindrical light blue cup, skirt the curved light blue shampoo bottle, and place the cylindrical light blue cup atop the flat round wooden coaster.",
+    "Slide the medium blue cylindrical cup toward the light gray round grainy coaster, detouring around the shampoo bottle with matte plastic, then set the medium blue cylindrical cup down.",
+    "Lift the light blue plastic cup, guide it past the bottle of shampoo, and rest the light blue plastic cup on the smooth round palm-sized coaster.",
+    "Use an arm: take the plastic cup for drinks, avoid the bottle of shampoo during the move, and drop it on the smooth round palm-sized coaster.",
+    "Move the smooth blue drinking cup onto the light gray streaked wooden coaster while avoiding the shampoo bottle tapered toward cap, then let go of the smooth blue drinking cup.",
+    "Pick up the medium-sized plastic blue cup, guide it past the hand-sized shampoo bottle, and drop the medium-sized plastic blue cup on the light gray round grainy coaster.",
+    "Grab the medium blue cylindrical cup, swing it away from <the shampoo bottle with white cap>, and place the medium blue cylindrical cup on <the flat round wooden coaster>.",
+    "Use an arm to move the cylindrical light blue cup toward the flat surface gray wooden coaster, keeping the cylindrical light blue cup clear of the bottle of shampoo.",
+    "Move the light blue plastic cup to <the light gray streaked wooden coaster> while keeping the light blue plastic cup away from <the blue shampoo bottle>, then release.",
+    "Take the plastic cup for drinks, route it away from the shampoo bottle tapered toward cap, and set the plastic cup for drinks onto the flat round wooden coaster.",
+    "Use an arm to grab the smooth blue drinking cup, avoid the bottle of shampoo, and set the smooth blue drinking cup down on the light gray streaked wooden coaster.",
+    "Grab the light blue plastic cup, route around the shampoo bottle with white cap, then lower the light blue plastic cup onto the smooth round palm-sized coaster.",
+    "Use an arm: pick the smooth blue cup for liquids up, skirt <the shampoo bottle tapered toward cap>, then place the smooth blue cup for liquids onto <the wooden coaster>.",
+    "Use an arm, take the cylindrical light blue cup, avoid <the curved light blue shampoo bottle> on the way, and set on <the grainy texture coaster>.",
+    "With an arm, lift the cup with smooth plastic surface, route past <the shampoo bottle tapered toward cap>, and drop the cup with smooth plastic surface onto <the round coaster>.",
+    "Take the blue rounded-bottom cup to the coaster with circular shape while skirting the hand-sized shampoo bottle, then release the blue rounded-bottom cup on the coaster with circular shape.",
+    "Using an arm, carry the light blue plastic cup past <the bottle light blue rounded shape> and place the light blue plastic cup squarely on <the grainy texture coaster>.",
+    "Lift the cup for holding liquids, carry it around the blue shampoo bottle, and place the cup for holding liquids squarely on the light gray round grainy coaster.",
+    "Move the light blue plastic cup toward the smooth round palm-sized coaster without passing near the bottle light blue rounded shape, then set it down.",
+    "Use an arm, keep the smooth blue cup for liquids from the light blue shampoo bottle small size, and lower the smooth blue cup for liquids onto the grainy texture coaster.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the bottle light blue rounded shape, and place the cylindrical light blue cup on the flat surface gray wooden coaster.",
+    "With an arm, lift the light blue plastic cup, avoid the shampoo bottle with matte plastic, and set the light blue plastic cup onto the smooth round palm-sized coaster.",
+    "Lift the cup for holding liquids, go around the curved light blue shampoo bottle, and position the cup for holding liquids squarely on the wooden coaster.",
+    "With an arm, lift the plastic cup for drinks, avoid <the shampoo bottle tapered toward cap> on the way, and drop the plastic cup for drinks on <the wooden coaster>.",
+    "Use an arm to move the cup with light blue color around the blue shampoo bottle slender design and rest the cup with light blue color on the wooden coaster.",
+    "Carry the blue rounded-bottom cup toward <the flat surface gray wooden coaster>, keeping clear of <the blue shampoo bottle>, and set the blue rounded-bottom cup down.",
+    "Arm-lift the plastic cup for drinks, swing around <the shampoo bottle flat bottom edge>, then place the plastic cup for drinks onto <the light gray round grainy coaster>.",
+    "Use an arm, take the blue rounded-bottom cup past the blue shampoo bottle without nearing it, and rest the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Take the rounded base blue cup, keep its path away from the shampoo bottle with white cap, and place the rounded base blue cup on the smooth round palm-sized coaster.",
+    "Secure the light blue plastic cup, move it around the shampoo bottle flat bottom edge, and place the light blue plastic cup squarely on the coaster with circular shape.",
+    "Carry the cup for holding liquids toward <the coaster with circular shape>, skirting <the light blue shampoo bottle small size>, and set the cup for holding liquids down.",
+    "Using an arm, pick the plastic cup for drinks up, skirt the blue shampoo bottle, and place the plastic cup for drinks on the smooth round palm-sized coaster.",
+    "With an arm, take the cup with light blue color, avoid the blue shampoo bottle, and put the cup with light blue color on the flat round wooden coaster.",
+    "Lift the plastic cup for drinks, route it away from the hand-sized shampoo bottle, then put the plastic cup for drinks squarely on the flat surface gray wooden coaster.",
+    "Use an arm to lift the blue rounded-bottom cup, keep distance from <the blue shampoo bottle>, and set the blue rounded-bottom cup on <the small coaster with grain texture>.",
+    "With an arm, move the rounded base blue cup past the light blue shampoo bottle small size and place the rounded base blue cup on the grainy texture coaster.",
+    "Move the medium-sized plastic blue cup to the coaster with circular shape while avoiding the hand-sized shampoo bottle, then place the medium-sized plastic blue cup on the coaster with circular shape.",
+    "Move the cup with light blue color to <the light gray streaked wooden coaster> while keeping its path away from <the shampoo bottle with matte plastic>.",
+    "Lift the cup with smooth plastic surface, arc around the small smooth shampoo bottle, and place the cup with smooth plastic surface squarely on the smooth round palm-sized coaster."
+  ],
+  "unseen": [
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container white rounded top>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the oval light blue shampoo container, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the smooth bottle containing shampoo>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo container white rounded top, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the smooth bottle containing shampoo>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container white rounded top, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the oval light blue shampoo container, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container white rounded top>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container white rounded top, and place it on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo container white rounded top>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the smooth bottle containing shampoo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the oval light blue shampoo container>, and set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the smooth bottle containing shampoo>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the smooth bottle containing shampoo, then set the small smooth cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the smooth bottle containing shampoo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the oval light blue shampoo container, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the smooth bottle containing shampoo>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the oval light blue shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the oval light blue shampoo container, and place the blue cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the smooth bottle containing shampoo>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the smooth bottle containing shampoo, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth bottle containing shampoo>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container white rounded top>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the smooth bottle containing shampoo, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the oval light blue shampoo container>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo container white rounded top, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the smooth bottle containing shampoo>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the oval light blue shampoo container, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the smooth bottle containing shampoo, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo container white rounded top>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the oval light blue shampoo container, and place it on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo container white rounded top, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container white rounded top>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container white rounded top>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the oval light blue shampoo container, then set the small smooth cup down on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo container white rounded top>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the smooth bottle containing shampoo, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo container white rounded top, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the oval light blue shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container white rounded top, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container white rounded top, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the smooth bottle containing shampoo, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the smooth bottle containing shampoo>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the oval light blue shampoo container>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the smooth bottle containing shampoo, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the smooth bottle containing shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the smooth bottle containing shampoo, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the oval light blue shampoo container>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the oval light blue shampoo container, and set it on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the oval light blue shampoo container, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the oval light blue shampoo container>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container white rounded top, and place it on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container white rounded top>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo container white rounded top, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the oval light blue shampoo container>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the oval light blue shampoo container>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo container white rounded top, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the oval light blue shampoo container>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo container white rounded top, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the oval light blue shampoo container>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the oval light blue shampoo container, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the smooth bottle containing shampoo, and place the blue cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container white rounded top, and place it on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the oval light blue shampoo container>, then set the small smooth cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container white rounded top, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth bottle containing shampoo>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the oval light blue shampoo container>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the smooth bottle containing shampoo, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode22.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d7290ff74cc3fe2287916ff416b62a4a7cfae98
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm to move the cup with light blue color around the pink bottle with narrow top and rest the cup with light blue color on the light gray streaked wooden coaster.",
+    "With an arm, lift the blue rounded-bottom cup, avoid <the pink bottle with black dispenser> on the way, and drop the blue rounded-bottom cup on <the light gray streaked wooden coaster>.",
+    "Carry the smooth blue drinking cup toward <the round coaster with light streaks>, skirting <the rectangular pink shampoo container>, and set the smooth blue drinking cup down.",
+    "Secure the cup with smooth plastic surface, move it around the medium pink bottle for shampoo, and place the cup with smooth plastic surface squarely on the round coaster.",
+    "With an arm, take the cup for holding liquids, avoid the rectangular pink bottle with dispenser, and put the cup for holding liquids on the round coaster with light streaks.",
+    "Arm-lift the smooth blue drinking cup, swing around <the shampoo bottle with rectangular shape>, then place the smooth blue drinking cup onto <the smooth round palm-sized coaster>.",
+    "Pick up the light blue plastic cup, avoid the smooth pink plastic shampoo bottle along the way, and place the light blue plastic cup on the coaster made of smooth wood.",
+    "Carry the cup with light blue color toward <the flat round wooden coaster>, keeping clear of <the rectangular pink bottle with dispenser>, and set the cup with light blue color down.",
+    "Use an arm: take the plastic cup for drinks, avoid the smooth pink plastic shampoo bottle during the move, and drop it on the smooth round palm-sized coaster.",
+    "Lift the cup for holding liquids, steer away from <the pink shampoo container with pump top>, then place the cup for holding liquids on <the coaster with circular shape>.",
+    "Take the cup with smooth plastic surface, guide it away from <the rectangular pink shampoo container>, and place the cup with smooth plastic surface squarely on <the grainy texture coaster>.",
+    "Use an arm to lift the cup for holding liquids, keep distance from <the shampoo bottle with rectangular shape>, and set the cup for holding liquids on <the grainy texture coaster>.",
+    "Use an arm to move the rounded base blue cup toward the flat surface gray wooden coaster, keeping the rounded base blue cup clear of the plastic shampoo bottle with black pump.",
+    "Use an arm, pick the cup with light blue color up, pass around the shampoo bottle with shiny pink body, then place the cup with light blue color on the small coaster with grain texture.",
+    "Use an arm, take the cup with smooth plastic surface past the shampoo bottle with shiny pink body without nearing it, and rest the cup with smooth plastic surface on the wooden coaster.",
+    "Pick the rounded base blue cup up, route it away from the shampoo bottle with shiny pink body, and drop the rounded base blue cup onto the round coaster with light streaks.",
+    "Take the medium blue cylindrical cup, keep its path away from the rectangular pink shampoo container, and place the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Use the arm to move the cup for holding liquids past <the rectangular pink bottle with dispenser> and rest it on <the small coaster with grain texture>.",
+    "Pick up the cup for holding liquids, route it away from the plastic shampoo bottle with black pump, then set the cup for holding liquids on the grainy texture coaster.",
+    "With an arm, lift the cup for holding liquids, avoid the rectangular pink shampoo container, and place the cup for holding liquids on the grainy texture coaster.",
+    "With an arm, pick the medium-sized plastic blue cup up, bypass <the pink shampoo bottle>, then place the medium-sized plastic blue cup on <the coaster with circular shape>.",
+    "Take the cup with smooth plastic surface, arc around <the smooth pink plastic shampoo bottle>, and place the cup with smooth plastic surface neatly on <the smooth round palm-sized coaster>.",
+    "Lift the plastic cup for drinks, carry it around the pink shampoo container with pump top, and place the plastic cup for drinks squarely on the smooth round palm-sized coaster.",
+    "Using an arm, pick the medium blue cylindrical cup up, skirt the rectangular pink bottle with dispenser, and place the medium blue cylindrical cup on the small coaster with grain texture.",
+    "Using an arm, move the plastic cup for drinks to <the coaster with circular shape> while avoiding <the smooth pink plastic shampoo bottle>, then release the plastic cup for drinks.",
+    "Guide the cup for holding liquids with the arm around <the hand-sized pink shampoo container> and onto <the grainy texture coaster>.",
+    "Move the plastic cup for drinks to the wooden coaster while avoiding the smooth pink plastic shampoo bottle, then place the plastic cup for drinks on the wooden coaster.",
+    "Use an arm to bring the cup with light blue color to the light gray round grainy coaster, keeping the cup with light blue color clear of the rectangular pink bottle with dispenser.",
+    "Use an arm: pick the smooth blue drinking cup up, skirt <the plastic shampoo bottle with black pump>, then place the smooth blue drinking cup onto <the round coaster with light streaks>.",
+    "Take the blue rounded-bottom cup in the arm, route around <the pink shampoo container with pump top>, and set it on <the small coaster with grain texture>.",
+    "Grab the medium-sized plastic blue cup, route around the shampoo bottle with shiny pink body, then lower the medium-sized plastic blue cup onto the light gray round grainy coaster.",
+    "Lift the cup with light blue color, route it away from the smooth pink plastic shampoo bottle, then put the cup with light blue color squarely on the coaster with circular shape.",
+    "Use the arm to lift the cylindrical light blue cup, pass the rectangular pink bottle with dispenser, and place the cylindrical light blue cup on the coaster made of smooth wood.",
+    "With an arm, lift the rounded base blue cup, route past <the pink bottle with black dispenser>, and drop the rounded base blue cup onto <the round coaster>.",
+    "Move the smooth blue drinking cup to the round coaster with light streaks without crossing the pink bottle with narrow top, then release the smooth blue drinking cup.",
+    "Pick up the cup with light blue color, keep its path away from <the shampoo bottle with rectangular shape>, and set the cup with light blue color on <the wooden coaster>.",
+    "Take the cup for holding liquids, route it away from the pink shampoo bottle, and set the cup for holding liquids onto the small coaster with grain texture.",
+    "Lift the cup with smooth plastic surface, guide it past the pink shampoo container with pump top, and rest the cup with smooth plastic surface on the coaster with circular shape.",
+    "Lift the cup with light blue color, guide it around <the plastic shampoo bottle with black pump>, then put the cup with light blue color onto <the flat surface gray wooden coaster>.",
+    "With an arm, move the cup with light blue color past the medium pink bottle for shampoo and place the cup with light blue color on the grainy texture coaster.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the plastic shampoo bottle with black pump, and set the cup with smooth plastic surface onto the grainy texture coaster.",
+    "Use an arm: grasp the medium blue cylindrical cup, avoid <the smooth pink plastic shampoo bottle>, and place the medium blue cylindrical cup on <the small coaster with grain texture>.",
+    "Using an arm, grasp the plastic cup for drinks, skirt the pink bottle with black dispenser, and place the plastic cup for drinks atop the light gray streaked wooden coaster.",
+    "Slide the medium blue cylindrical cup toward the round coaster with light streaks, detouring around the medium pink bottle for shampoo, then set the medium blue cylindrical cup down.",
+    "Using an arm, pick the light blue plastic cup up, skirt the pink bottle with black dispenser, and place the light blue plastic cup on the round coaster.",
+    "Use an arm to lift the cup with smooth plastic surface, arc around the smooth pink plastic shampoo bottle, and place the cup with smooth plastic surface atop the coaster made of smooth wood.",
+    "Move the rounded base blue cup onto the round coaster while avoiding the rectangular pink bottle with dispenser, then let go of the rounded base blue cup.",
+    "Lift the medium blue cylindrical cup, go around the shampoo bottle with shiny pink body, and position the medium blue cylindrical cup squarely on the light gray round grainy coaster.",
+    "Use an arm, keep the cup for holding liquids from the pink bottle with narrow top, and lower the cup for holding liquids onto the wooden coaster.",
+    "With an arm, lift the rounded base blue cup, keep it away from the shampoo bottle with rectangular shape, and drop it onto the flat round wooden coaster.",
+    "Use an arm: grab the plastic cup for drinks, avoid the rectangular pink shampoo container on the way, then set the plastic cup for drinks on the coaster with circular shape.",
+    "Secure the cup for holding liquids, keep its path away from the medium pink bottle for shampoo, and set the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Lift the plastic cup for drinks, arc around the pink shampoo bottle, and place the plastic cup for drinks squarely on the wooden coaster.",
+    "Grab the medium-sized plastic blue cup, swing it away from <the plastic shampoo bottle with black pump>, and place the medium-sized plastic blue cup on <the flat round wooden coaster>.",
+    "Carry the rounded base blue cup toward <the small coaster with grain texture>, keeping the path clear of <the shampoo bottle with rectangular shape>, then set down.",
+    "With an arm, bring the cylindrical light blue cup over to <the flat surface gray wooden coaster> and keep clear of <the plastic shampoo bottle with black pump>.",
+    "Lift the medium-sized plastic blue cup, pass by the rectangular pink shampoo container without contact, then place the medium-sized plastic blue cup on the round coaster.",
+    "Using an arm, carry the blue rounded-bottom cup around the smooth pink plastic shampoo bottle and place the blue rounded-bottom cup onto the coaster with circular shape.",
+    "Pick up the cylindrical light blue cup, guide it past the pink shampoo bottle, and drop the cylindrical light blue cup on the round coaster with light streaks.",
+    "Use an arm, take the medium-sized plastic blue cup, avoid <the rectangular pink shampoo container> on the way, and set on <the round coaster>.",
+    "Move the medium blue cylindrical cup toward the coaster with circular shape without passing near the pink shampoo bottle, then set it down.",
+    "Pick up the light blue plastic cup, keep clear of <the smooth pink plastic shampoo bottle>, and drop the light blue plastic cup onto <the wooden coaster>.",
+    "Grab the medium blue cylindrical cup, guide it away from the pink shampoo bottle, and set the medium blue cylindrical cup neatly on the small coaster with grain texture.",
+    "Move the cup with smooth plastic surface onto the round coaster with light streaks while avoiding the shampoo bottle with shiny pink body, then let go of the cup with smooth plastic surface.",
+    "Use an arm to move the plastic cup for drinks to the round coaster with light streaks, keeping the plastic cup for drinks from bumping the rectangular pink bottle with dispenser.",
+    "Slide the cylindrical light blue cup over to <the grainy texture coaster> without passing near <the pink shampoo container with pump top>.",
+    "Move the light blue plastic cup onto <the smooth round palm-sized coaster> and ensure the path stays away from <the medium pink bottle for shampoo>.",
+    "Use the arm to carry the cylindrical light blue cup around the plastic shampoo bottle with black pump, then rest the cylindrical light blue cup on the flat round wooden coaster.",
+    "Use an arm to grab the medium blue cylindrical cup, avoid the pink shampoo bottle, and set the medium blue cylindrical cup down on the coaster with circular shape.",
+    "Move the medium blue cylindrical cup to <the round coaster with light streaks> while keeping the medium blue cylindrical cup away from <the medium pink bottle for shampoo>, then release.",
+    "Carry the cup for holding liquids toward the flat round wooden coaster, keeping the cup for holding liquids away from the plastic shampoo bottle with black pump, then set down.",
+    "With an arm, lift the cup for holding liquids, guide it past the rectangular pink bottle with dispenser, and put the cup for holding liquids on the grainy texture coaster.",
+    "Using an arm, carry the medium blue cylindrical cup past <the shampoo bottle with shiny pink body> and place the medium blue cylindrical cup squarely on <the flat round wooden coaster>.",
+    "Lift the smooth blue cup for liquids, pass beside <the plastic shampoo bottle with black pump> without contact, then place the smooth blue cup for liquids onto <the wooden coaster>.",
+    "Take the blue rounded-bottom cup to the coaster with circular shape while skirting the smooth pink plastic shampoo bottle, then release the blue rounded-bottom cup on the coaster with circular shape.",
+    "Use an arm to take the medium-sized plastic blue cup around <the shampoo bottle with shiny pink body> and place the medium-sized plastic blue cup on <the light gray streaked wooden coaster>.",
+    "Take the light blue plastic cup, swing wide of the plastic shampoo bottle with black pump, then rest the light blue plastic cup on the wooden coaster.",
+    "Move the cup with smooth plastic surface to <the flat surface gray wooden coaster> while keeping its path away from <the hand-sized pink shampoo container>.",
+    "Take the smooth blue drinking cup, keep its path away from the pink bottle with narrow top, and drop the smooth blue drinking cup on the round coaster with light streaks.",
+    "Lift the light blue plastic cup, keep clear of the rectangular pink shampoo container, and put the light blue plastic cup down on the flat surface gray wooden coaster.",
+    "Use an arm to move the cup with smooth plastic surface around the plastic shampoo bottle with black pump and rest the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "With an arm, lift the cup with light blue color, avoid <the pink shampoo bottle> on the way, and drop the cup with light blue color on <the round coaster>.",
+    "Carry the cylindrical light blue cup toward <the small coaster with grain texture>, skirting <the pink shampoo container with pump top>, and set the cylindrical light blue cup down.",
+    "Secure the medium blue cylindrical cup, move it around the rectangular pink shampoo container, and place the medium blue cylindrical cup squarely on the flat round wooden coaster.",
+    "With an arm, take the plastic cup for drinks, avoid the pink shampoo container with pump top, and put the plastic cup for drinks on the small coaster with grain texture.",
+    "Arm-lift the cup with smooth plastic surface, swing around <the hand-sized pink shampoo container>, then place the cup with smooth plastic surface onto <the light gray round grainy coaster>.",
+    "Pick up the medium blue cylindrical cup, avoid the plastic shampoo bottle with black pump along the way, and place the medium blue cylindrical cup on the flat surface gray wooden coaster.",
+    "Carry the plastic cup for drinks toward <the flat round wooden coaster>, keeping clear of <the shampoo bottle with rectangular shape>, and set the plastic cup for drinks down.",
+    "Use an arm: take the cylindrical light blue cup, avoid the shampoo bottle with shiny pink body during the move, and drop it on the small coaster with grain texture.",
+    "Lift the cup with light blue color, steer away from <the hand-sized pink shampoo container>, then place the cup with light blue color on <the coaster made of smooth wood>.",
+    "Take the blue rounded-bottom cup, guide it away from <the shampoo bottle with shiny pink body>, and place the blue rounded-bottom cup squarely on <the smooth round palm-sized coaster>.",
+    "Use an arm to lift the medium blue cylindrical cup, keep distance from <the medium pink bottle for shampoo>, and set the medium blue cylindrical cup on <the smooth round palm-sized coaster>.",
+    "Use an arm to move the cylindrical light blue cup toward the smooth round palm-sized coaster, keeping the cylindrical light blue cup clear of the rectangular pink bottle with dispenser.",
+    "Use an arm, pick the cup with smooth plastic surface up, pass around the plastic shampoo bottle with black pump, then place the cup with smooth plastic surface on the small coaster with grain texture.",
+    "Use an arm, take the medium-sized plastic blue cup past the smooth pink plastic shampoo bottle without nearing it, and rest the medium-sized plastic blue cup on the flat surface gray wooden coaster.",
+    "Pick the smooth blue drinking cup up, route it away from the pink bottle with narrow top, and drop the smooth blue drinking cup onto the smooth round palm-sized coaster.",
+    "Take the cup for holding liquids, keep its path away from the smooth pink plastic shampoo bottle, and place the cup for holding liquids on the light gray round grainy coaster.",
+    "Use the arm to move the smooth blue cup for liquids past <the shampoo bottle with shiny pink body> and rest it on <the grainy texture coaster>.",
+    "Pick up the plastic cup for drinks, route it away from the pink bottle with black dispenser, then set the plastic cup for drinks on the wooden coaster.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the rectangular pink shampoo container, and place the blue rounded-bottom cup on the flat round wooden coaster."
+  ],
+  "unseen": [
+    "Pick up the handheld round blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the glossy pink shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the glossy pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with black pump, and place the blue cup on the light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle with black pump, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with black pump>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, route it around <the plastic pink shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the plastic pink shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the shampoo bottle with black pump, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the plastic pink shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the plastic pink shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with black pump>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the glossy pink shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the plastic pink shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the glossy pink shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the glossy pink shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the glossy pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with black pump, and place the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with black pump, then set the small smooth cup onto the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the plastic pink shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with black pump>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the glossy pink shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the glossy pink shampoo bottle>, and place the small smooth cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the glossy pink shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the glossy pink shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the glossy pink shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the glossy pink shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the plastic pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with black pump, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with black pump, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the plastic pink shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with black pump>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the glossy pink shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with black pump, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the plastic pink shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the plastic pink shampoo bottle>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the glossy pink shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with black pump>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the plastic pink shampoo bottle, and set the blue cup on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with black pump>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the plastic pink shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle with black pump, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the plastic pink shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with black pump, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with black pump, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the glossy pink shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with black pump>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the glossy pink shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with black pump, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo bottle with black pump, then set the blue cup down on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with black pump>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the plastic pink shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the glossy pink shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the glossy pink shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the plastic pink shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the glossy pink shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the glossy pink shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the glossy pink shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with black pump, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the glossy pink shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with black pump>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the glossy pink shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the glossy pink shampoo bottle>, and place the small smooth cup on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with black pump, then place the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with black pump>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the plastic pink shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the plastic pink shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the plastic pink shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep it clear of <the glossy pink shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the glossy pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the plastic pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the glossy pink shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the plastic pink shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the glossy pink shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the plastic pink shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the glossy pink shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the plastic pink shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the plastic pink shampoo bottle>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with black pump>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with black pump, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the glossy pink shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the plastic pink shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle with black pump, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the glossy pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with black pump, and place the small smooth cup on the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode23.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb4e4696d49e528b40ed6150f9091e3f064f8a26
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the cup for holding liquids, pass by the white body pink flip cap bottle without contact, then place the cup for holding liquids on the wooden coaster.",
+    "Carry the medium blue cylindrical cup toward <the flat surface gray wooden coaster>, keeping clear of <the white body pink flip cap bottle>, and set the medium blue cylindrical cup down.",
+    "With an arm, pick the light blue plastic cup up, bypass <the plastic shampoo container>, then place the light blue plastic cup on <the grainy texture coaster>.",
+    "Pick up the blue rounded-bottom cup, avoid the medium shampoo bottle along the way, and place the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "Lift the rounded base blue cup, route it away from the white body pink flip cap bottle, then put the rounded base blue cup squarely on the round coaster with light streaks.",
+    "Pick up the medium-sized plastic blue cup, route it away from the oval-shaped shampoo bottle, then set the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "Use an arm to lift the smooth blue drinking cup, arc around the shampoo dispenser with flat base, and place the smooth blue drinking cup atop the light gray round grainy coaster.",
+    "Use an arm to lift the plastic cup for drinks, keep distance from <the medium oval plastic shampoo container>, and set the plastic cup for drinks on <the round coaster>.",
+    "Pick the plastic cup for drinks up, route it away from the white body pink flip cap bottle, and drop the plastic cup for drinks onto the light gray streaked wooden coaster.",
+    "Take the plastic cup for drinks to the round coaster while skirting the shampoo dispenser with flat base, then release the plastic cup for drinks on the round coaster.",
+    "Secure the cylindrical light blue cup, keep its path away from the shampoo dispenser with flat base, and set the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Use an arm to move the cup with light blue color toward the smooth round palm-sized coaster, keeping the cup with light blue color clear of the smooth white shampoo dispenser.",
+    "Carry the cup for holding liquids toward <the grainy texture coaster>, keeping the path clear of <the medium shampoo bottle>, then set down.",
+    "Use an arm, take the medium blue cylindrical cup, avoid <the plastic shampoo container> on the way, and set on <the coaster made of smooth wood>.",
+    "With an arm, lift the medium-sized plastic blue cup, guide it past the medium oval plastic shampoo container, and put the medium-sized plastic blue cup on the wooden coaster.",
+    "Use the arm to move the cup for holding liquids past <the medium shampoo bottle> and rest it on <the round coaster with light streaks>.",
+    "Using an arm, pick the cup with light blue color up, skirt the medium oval plastic shampoo container, and place the cup with light blue color on the flat surface gray wooden coaster.",
+    "Grab the cup with light blue color, swing it away from <the white shampoo bottle>, and place the cup with light blue color on <the small coaster with grain texture>.",
+    "Lift the cylindrical light blue cup, arc around the medium oval plastic shampoo container, and place the cylindrical light blue cup squarely on the smooth round palm-sized coaster.",
+    "Grab the cup with light blue color, route around the glossy white shampoo bottle, then lower the cup with light blue color onto the light gray streaked wooden coaster.",
+    "Use the arm to lift the cup for holding liquids, pass the oval-shaped shampoo bottle, and place the cup for holding liquids on the round coaster.",
+    "Using an arm, pick the smooth blue drinking cup up, skirt the smooth white shampoo dispenser, and place the smooth blue drinking cup on the flat round wooden coaster.",
+    "Using an arm, grasp the rounded base blue cup, skirt the plastic shampoo container, and place the rounded base blue cup atop the coaster with circular shape.",
+    "Use an arm: pick the smooth blue cup for liquids up, skirt <the plastic shampoo container>, then place the smooth blue cup for liquids onto <the grainy texture coaster>.",
+    "Use an arm, keep the smooth blue cup for liquids from the glossy white shampoo bottle, and lower the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Take the medium blue cylindrical cup, keep its path away from the oval-shaped shampoo bottle, and drop the medium blue cylindrical cup on the round coaster with light streaks.",
+    "With an arm, lift the smooth blue cup for liquids, route past <the medium oval plastic shampoo container>, and drop the smooth blue cup for liquids onto <the flat surface gray wooden coaster>.",
+    "Pick up the cylindrical light blue cup, keep its path away from <the white shampoo bottle>, and set the cylindrical light blue cup on <the coaster with circular shape>.",
+    "Take the cylindrical light blue cup in the arm, route around <the white shampoo bottle>, and set it on <the round coaster with light streaks>.",
+    "Lift the medium-sized plastic blue cup, pass beside <the glossy white shampoo bottle> without contact, then place the medium-sized plastic blue cup onto <the light gray round grainy coaster>.",
+    "With an arm, bring the cup for holding liquids over to <the light gray round grainy coaster> and keep clear of <the medium oval plastic shampoo container>.",
+    "Carry the cup for holding liquids toward <the light gray round grainy coaster>, skirting <the smooth white shampoo dispenser>, and set the cup for holding liquids down.",
+    "Secure the cylindrical light blue cup, move it around the pink-topped shampoo bottle, and place the cylindrical light blue cup squarely on the grainy texture coaster.",
+    "Lift the smooth blue cup for liquids, steer away from <the glossy white shampoo bottle>, then place the smooth blue cup for liquids on <the flat surface gray wooden coaster>.",
+    "Take the cup with smooth plastic surface, route it away from the white shampoo bottle, and set the cup with smooth plastic surface onto the grainy texture coaster.",
+    "With an arm, move the medium blue cylindrical cup past the pink-topped shampoo bottle and place the medium blue cylindrical cup on the wooden coaster.",
+    "Using an arm, carry the smooth blue cup for liquids around the white body pink flip cap bottle and place the smooth blue cup for liquids onto the grainy texture coaster.",
+    "Use an arm to take the plastic cup for drinks around <the pink-topped shampoo bottle> and place the plastic cup for drinks on <the grainy texture coaster>.",
+    "Take the plastic cup for drinks, swing wide of the shampoo dispenser with flat base, then rest the plastic cup for drinks on the coaster with circular shape.",
+    "Use an arm, take the cylindrical light blue cup past the white body pink flip cap bottle without nearing it, and rest the cylindrical light blue cup on the wooden coaster.",
+    "Use an arm to move the medium-sized plastic blue cup around the white body pink flip cap bottle and rest the medium-sized plastic blue cup on the round coaster with light streaks.",
+    "Lift the cylindrical light blue cup, carry it around the shampoo bottle with pink cap, and place the cylindrical light blue cup squarely on the coaster made of smooth wood.",
+    "With an arm, lift the plastic cup for drinks, avoid the smooth white shampoo dispenser, and set the plastic cup for drinks onto the flat round wooden coaster.",
+    "Use an arm to grab the blue rounded-bottom cup, avoid the shampoo bottle with pink cap, and set the blue rounded-bottom cup down on the grainy texture coaster.",
+    "Use an arm, pick the smooth blue cup for liquids up, pass around the smooth white shampoo dispenser, then place the smooth blue cup for liquids on the grainy texture coaster.",
+    "Pick up the blue rounded-bottom cup, keep clear of <the white shampoo bottle>, and drop the blue rounded-bottom cup onto <the flat round wooden coaster>.",
+    "Take the cup for holding liquids, keep its path away from the shampoo dispenser with flat base, and place the cup for holding liquids on the wooden coaster.",
+    "Move the plastic cup for drinks to <the smooth round palm-sized coaster> while keeping the plastic cup for drinks away from <the plastic shampoo container>, then release.",
+    "Move the cylindrical light blue cup onto the wooden coaster while avoiding the pink-topped shampoo bottle, then let go of the cylindrical light blue cup.",
+    "Use an arm to move the cylindrical light blue cup to the coaster with circular shape, keeping the cylindrical light blue cup from bumping the smooth white shampoo dispenser.",
+    "Use the arm to carry the blue rounded-bottom cup around the pink-topped shampoo bottle, then rest the blue rounded-bottom cup on the wooden coaster.",
+    "Use an arm: take the smooth blue cup for liquids, avoid the medium oval plastic shampoo container during the move, and drop it on the small coaster with grain texture.",
+    "Lift the cup with light blue color, guide it around <the white body pink flip cap bottle>, then put the cup with light blue color onto <the light gray streaked wooden coaster>.",
+    "Carry the plastic cup for drinks toward the smooth round palm-sized coaster, keeping the plastic cup for drinks away from the white body pink flip cap bottle, then set down.",
+    "Using an arm, carry the smooth blue cup for liquids past <the medium shampoo bottle> and place the smooth blue cup for liquids squarely on <the small coaster with grain texture>.",
+    "Slide the cup for holding liquids toward the light gray round grainy coaster, detouring around the hand-sized shampoo bottle, then set the cup for holding liquids down.",
+    "Move the smooth blue cup for liquids toward the light gray round grainy coaster without passing near the shampoo dispenser with flat base, then set it down.",
+    "Move the rounded base blue cup onto the round coaster while avoiding the plastic shampoo container, then let go of the rounded base blue cup.",
+    "Lift the rounded base blue cup, keep clear of the white body pink flip cap bottle, and put the rounded base blue cup down on the small coaster with grain texture.",
+    "Using an arm, move the cup with smooth plastic surface to <the light gray round grainy coaster> while avoiding <the medium shampoo bottle>, then release the cup with smooth plastic surface.",
+    "Lift the medium blue cylindrical cup, go around the glossy white shampoo bottle, and position the medium blue cylindrical cup squarely on the coaster made of smooth wood.",
+    "Move the rounded base blue cup to the grainy texture coaster while avoiding the glossy white shampoo bottle, then place the rounded base blue cup on the grainy texture coaster.",
+    "Arm-lift the smooth blue cup for liquids, swing around <the shampoo dispenser with flat base>, then place the smooth blue cup for liquids onto <the coaster made of smooth wood>.",
+    "With an arm, lift the smooth blue drinking cup, avoid <the medium oval plastic shampoo container> on the way, and drop the smooth blue drinking cup on <the wooden coaster>.",
+    "Move the plastic cup for drinks to <the smooth round palm-sized coaster> while keeping its path away from <the shampoo dispenser with flat base>.",
+    "Pick up the rounded base blue cup, guide it past the white shampoo bottle, and drop the rounded base blue cup on the smooth round palm-sized coaster.",
+    "Slide the blue rounded-bottom cup over to <the coaster with circular shape> without passing near <the shampoo bottle with pink cap>.",
+    "Take the cup with smooth plastic surface, guide it away from <the smooth white shampoo dispenser>, and place the cup with smooth plastic surface squarely on <the coaster made of smooth wood>.",
+    "Grab the medium-sized plastic blue cup, guide it away from the plastic shampoo container, and set the medium-sized plastic blue cup neatly on the coaster made of smooth wood.",
+    "With an arm, take the medium-sized plastic blue cup, avoid the smooth white shampoo dispenser, and put the medium-sized plastic blue cup on the light gray streaked wooden coaster.",
+    "Take the cup with smooth plastic surface, arc around <the medium shampoo bottle>, and place the cup with smooth plastic surface neatly on <the round coaster>.",
+    "Lift the cup with light blue color, guide it past the shampoo bottle with pink cap, and rest the cup with light blue color on the light gray round grainy coaster.",
+    "Guide the rounded base blue cup with the arm around <the shampoo dispenser with flat base> and onto <the round coaster>.",
+    "Use an arm to bring the cup with smooth plastic surface to the round coaster, keeping the cup with smooth plastic surface clear of the glossy white shampoo bottle.",
+    "Move the medium-sized plastic blue cup to the light gray streaked wooden coaster without crossing the white body pink flip cap bottle, then release the medium-sized plastic blue cup.",
+    "With an arm, lift the smooth blue cup for liquids, keep it away from the medium shampoo bottle, and drop it onto the light gray streaked wooden coaster.",
+    "Use an arm: grasp the blue rounded-bottom cup, avoid <the white shampoo bottle>, and place the blue rounded-bottom cup on <the small coaster with grain texture>.",
+    "With an arm, lift the smooth blue cup for liquids, avoid the glossy white shampoo bottle, and place the smooth blue cup for liquids on the round coaster with light streaks.",
+    "Use an arm: grab the plastic cup for drinks, avoid the white shampoo bottle on the way, then set the plastic cup for drinks on the round coaster.",
+    "Move the cup with light blue color onto <the grainy texture coaster> and ensure the path stays away from <the oval-shaped shampoo bottle>.",
+    "Lift the medium blue cylindrical cup, pass by the pink-topped shampoo bottle without contact, then place the medium blue cylindrical cup on the flat surface gray wooden coaster.",
+    "Carry the medium blue cylindrical cup toward <the wooden coaster>, keeping clear of <the shampoo bottle with pink cap>, and set the medium blue cylindrical cup down.",
+    "With an arm, pick the smooth blue cup for liquids up, bypass <the white body pink flip cap bottle>, then place the smooth blue cup for liquids on <the flat round wooden coaster>.",
+    "Pick up the plastic cup for drinks, avoid the plastic shampoo container along the way, and place the plastic cup for drinks on the grainy texture coaster.",
+    "Lift the cup for holding liquids, route it away from the glossy white shampoo bottle, then put the cup for holding liquids squarely on the smooth round palm-sized coaster.",
+    "Pick up the cup with smooth plastic surface, route it away from the pink-topped shampoo bottle, then set the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Use an arm to lift the medium blue cylindrical cup, arc around the oval-shaped shampoo bottle, and place the medium blue cylindrical cup atop the coaster with circular shape.",
+    "Use an arm to lift the cup for holding liquids, keep distance from <the shampoo bottle with pink cap>, and set the cup for holding liquids on <the small coaster with grain texture>.",
+    "Pick the medium blue cylindrical cup up, route it away from the plastic shampoo container, and drop the medium blue cylindrical cup onto the wooden coaster.",
+    "Take the medium-sized plastic blue cup to the coaster made of smooth wood while skirting the pink-topped shampoo bottle, then release the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Secure the plastic cup for drinks, keep its path away from the medium oval plastic shampoo container, and set the plastic cup for drinks on the small coaster with grain texture.",
+    "Use an arm to move the cup with smooth plastic surface toward the grainy texture coaster, keeping the cup with smooth plastic surface clear of the medium oval plastic shampoo container.",
+    "Carry the smooth blue cup for liquids toward <the flat surface gray wooden coaster>, keeping the path clear of <the shampoo dispenser with flat base>, then set down.",
+    "Use an arm, take the cup for holding liquids, avoid <the glossy white shampoo bottle> on the way, and set on <the coaster with circular shape>.",
+    "With an arm, lift the cup for holding liquids, guide it past the shampoo bottle with pink cap, and put the cup for holding liquids on the round coaster.",
+    "Use the arm to move the blue rounded-bottom cup past <the glossy white shampoo bottle> and rest it on <the light gray round grainy coaster>.",
+    "Using an arm, pick the rounded base blue cup up, skirt the glossy white shampoo bottle, and place the rounded base blue cup on the coaster with circular shape.",
+    "Grab the medium-sized plastic blue cup, swing it away from <the white shampoo bottle>, and place the medium-sized plastic blue cup on <the coaster with circular shape>.",
+    "Lift the cup for holding liquids, arc around the medium shampoo bottle, and place the cup for holding liquids squarely on the flat surface gray wooden coaster.",
+    "Grab the cup with light blue color, route around the smooth white shampoo dispenser, then lower the cup with light blue color onto the wooden coaster."
+  ],
+  "unseen": [
+    "Use an arm to pick up the blue cup, avoid the Dove shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the bottle for holding shampoo, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with Dove logo, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, route it around <the bottle for holding shampoo>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the Dove shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the bottle for holding shampoo>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the Dove shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the bottle for holding shampoo, and set it on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the bottle for holding shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the bottle for holding shampoo>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the Dove shampoo bottle, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with Dove logo>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the bottle for holding shampoo, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with Dove logo, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the bottle for holding shampoo>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the Dove shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the Dove shampoo bottle, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the Dove shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with Dove logo>, then place the small smooth cup onto <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the Dove shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the bottle for holding shampoo>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the bottle for holding shampoo, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the bottle for holding shampoo, and set it on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with Dove logo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the Dove shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, steer it around the Dove shampoo bottle, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with Dove logo>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with Dove logo, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the bottle for holding shampoo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the bottle for holding shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the Dove shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the Dove shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the Dove shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the Dove shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with Dove logo>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with Dove logo, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with Dove logo, and set it on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the bottle for holding shampoo, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with Dove logo>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, steer it around the shampoo bottle with Dove logo, then set the blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with Dove logo>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with Dove logo, and place the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the bottle for holding shampoo>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the bottle for holding shampoo, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the Dove shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the bottle for holding shampoo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the bottle for holding shampoo>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the bottle for holding shampoo>, and set the handheld round blue cup on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the bottle for holding shampoo>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the Dove shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the Dove shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the bottle for holding shampoo>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the shampoo bottle with Dove logo, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the bottle for holding shampoo>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with Dove logo, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with Dove logo, then place the blue cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the bottle for holding shampoo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the Dove shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, route it around <the bottle for holding shampoo>, then place the small smooth cup onto <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the Dove shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with Dove logo>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the bottle for holding shampoo, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the Dove shampoo bottle, and set it on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the Dove shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the Dove shampoo bottle, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with Dove logo>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the Dove shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with Dove logo, and place the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with Dove logo, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the Dove shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the bottle for holding shampoo, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the Dove shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with Dove logo>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with Dove logo>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the bottle for holding shampoo, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle with Dove logo, and set it on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the Dove shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the Dove shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the Dove shampoo bottle, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with Dove logo>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the Dove shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the bottle for holding shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the bottle for holding shampoo>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode24.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f3ba6e317062d8e2244a08c93fcbb62d64585f7
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using an arm, grasp the cup for holding liquids, skirt the bottle with yellow cap, and place the cup for holding liquids atop the smooth round palm-sized coaster.",
+    "Take the cylindrical light blue cup, arc around <the bottle for shampoo with glossy finish>, and place the cylindrical light blue cup neatly on <the light gray streaked wooden coaster>.",
+    "Carry the medium-sized plastic blue cup toward the flat surface gray wooden coaster, keeping the medium-sized plastic blue cup away from the medium shampoo container, then set down.",
+    "Grab the smooth blue drinking cup, swing it away from <the bottle for shampoo with glossy finish>, and place the smooth blue drinking cup on <the light gray streaked wooden coaster>.",
+    "Lift the cylindrical light blue cup, pass beside <the smooth shampoo container> without contact, then place the cylindrical light blue cup onto <the flat surface gray wooden coaster>.",
+    "With an arm, lift the medium-sized plastic blue cup, route past <the white shampoo bottle>, and drop the medium-sized plastic blue cup onto <the small coaster with grain texture>.",
+    "Take the medium blue cylindrical cup, keep its path away from the rectangular shampoo bottle with rounded top, and drop the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Use the arm to lift the medium blue cylindrical cup, pass the white bottle with golden accents, and place the medium blue cylindrical cup on the round coaster.",
+    "Lift the smooth blue cup for liquids, pass by the shampoo bottle with rectangular base without contact, then place the smooth blue cup for liquids on the round coaster.",
+    "Use an arm: grab the smooth blue drinking cup, avoid the white bottle with golden accents on the way, then set the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "Use an arm to take the medium blue cylindrical cup around <the rectangular shampoo bottle with rounded top> and place the medium blue cylindrical cup on <the small coaster with grain texture>.",
+    "Carry the cylindrical light blue cup toward <the wooden coaster>, keeping clear of <the shampoo bottle>, and set the cylindrical light blue cup down.",
+    "Arm-lift the blue rounded-bottom cup, swing around <the bottle for shampoo with glossy finish>, then place the blue rounded-bottom cup onto <the round coaster with light streaks>.",
+    "Pick up the cylindrical light blue cup, avoid the bottle with yellow cap along the way, and place the cylindrical light blue cup on the round coaster with light streaks.",
+    "Move the blue rounded-bottom cup onto <the round coaster with light streaks> and ensure the path stays away from <the hand-held shampoo bottle>.",
+    "Lift the medium-sized plastic blue cup, arc around the smooth shampoo container, and place the medium-sized plastic blue cup squarely on the light gray round grainy coaster.",
+    "Move the cylindrical light blue cup toward the light gray round grainy coaster without passing near the shampoo bottle with rectangular base, then set it down.",
+    "With an arm, bring the cup for holding liquids over to <the coaster with circular shape> and keep clear of <the shampoo bottle with rectangular base>.",
+    "Pick up the cup with smooth plastic surface, guide it past the shampoo bottle with rectangular base, and drop the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Using an arm, pick the light blue plastic cup up, skirt the bottle for shampoo with glossy finish, and place the light blue plastic cup on the round coaster with light streaks.",
+    "Using an arm, move the rounded base blue cup to <the round coaster> while avoiding <the bottle with yellow cap>, then release the rounded base blue cup.",
+    "Lift the cup with smooth plastic surface, guide it past the bottle for shampoo with glossy finish, and rest the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "Use an arm to grab the plastic cup for drinks, avoid the bottle with yellow cap, and set the plastic cup for drinks down on the flat round wooden coaster.",
+    "Using an arm, carry the smooth blue cup for liquids past <the shampoo bottle with rectangular base> and place the smooth blue cup for liquids squarely on <the smooth round palm-sized coaster>.",
+    "Secure the cup with smooth plastic surface, move it around the bottle with yellow cap, and place the cup with smooth plastic surface squarely on the light gray streaked wooden coaster.",
+    "Grab the light blue plastic cup, route around the bottle for shampoo with glossy finish, then lower the light blue plastic cup onto the light gray round grainy coaster.",
+    "Use an arm: grasp the plastic cup for drinks, avoid <the white bottle with golden accents>, and place the plastic cup for drinks on <the smooth round palm-sized coaster>.",
+    "Slide the cup with light blue color toward the round coaster, detouring around the smooth shampoo container, then set the cup with light blue color down.",
+    "Pick up the cup with light blue color, keep clear of <the bottle with yellow cap>, and drop the cup with light blue color onto <the small coaster with grain texture>.",
+    "Use the arm to carry the smooth blue drinking cup around the medium shampoo container, then rest the smooth blue drinking cup on the small coaster with grain texture.",
+    "Slide the cup with light blue color over to <the wooden coaster> without passing near <the white shampoo bottle>.",
+    "Use an arm to move the cup with smooth plastic surface toward the coaster made of smooth wood, keeping the cup with smooth plastic surface clear of the shampoo bottle.",
+    "With an arm, lift the light blue plastic cup, avoid the shampoo bottle with rectangular base, and place the light blue plastic cup on the round coaster.",
+    "Secure the smooth blue cup for liquids, keep its path away from the hand-held shampoo bottle, and set the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Move the cylindrical light blue cup to <the grainy texture coaster> while keeping the cylindrical light blue cup away from <the white shampoo bottle with golden top>, then release.",
+    "Move the cup for holding liquids onto the round coaster while avoiding the shampoo bottle, then let go of the cup for holding liquids.",
+    "Pick up the cylindrical light blue cup, route it away from the bottle for shampoo with glossy finish, then set the cylindrical light blue cup on the grainy texture coaster.",
+    "Use an arm: pick the light blue plastic cup up, skirt <the hand-held shampoo bottle>, then place the light blue plastic cup onto <the flat round wooden coaster>.",
+    "Lift the rounded base blue cup, steer away from <the white shampoo bottle>, then place the rounded base blue cup on <the small coaster with grain texture>.",
+    "Use an arm to bring the blue rounded-bottom cup to the round coaster, keeping the blue rounded-bottom cup clear of the medium shampoo container.",
+    "Take the cup for holding liquids, swing wide of the rectangular shampoo bottle with rounded top, then rest the cup for holding liquids on the wooden coaster.",
+    "Grab the smooth blue cup for liquids, guide it away from the white shampoo bottle, and set the smooth blue cup for liquids neatly on the round coaster with light streaks.",
+    "With an arm, move the cup for holding liquids past the medium shampoo container and place the cup for holding liquids on the coaster with circular shape.",
+    "Move the light blue plastic cup to the light gray streaked wooden coaster without crossing the shampoo bottle with rectangular base, then release the light blue plastic cup.",
+    "Use an arm, take the cup with smooth plastic surface past the hand-held shampoo bottle without nearing it, and rest the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Use an arm to lift the smooth blue drinking cup, arc around the bottle with yellow cap, and place the smooth blue drinking cup atop the light gray streaked wooden coaster.",
+    "Move the plastic cup for drinks onto the wooden coaster while avoiding the white shampoo bottle, then let go of the plastic cup for drinks.",
+    "Carry the blue rounded-bottom cup toward <the wooden coaster>, keeping the path clear of <the white shampoo bottle with golden top>, then set down.",
+    "With an arm, lift the plastic cup for drinks, keep it away from the medium shampoo container, and drop it onto the grainy texture coaster.",
+    "Take the smooth blue cup for liquids to the flat round wooden coaster while skirting the hand-held shampoo bottle, then release the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Lift the medium blue cylindrical cup, route it away from the medium shampoo container, then put the medium blue cylindrical cup squarely on the flat round wooden coaster.",
+    "With an arm, lift the light blue plastic cup, avoid <the white bottle with golden accents> on the way, and drop the light blue plastic cup on <the coaster with circular shape>.",
+    "Lift the blue rounded-bottom cup, go around the white bottle with golden accents, and position the blue rounded-bottom cup squarely on the flat round wooden coaster.",
+    "Use the arm to move the cup for holding liquids past <the white bottle with golden accents> and rest it on <the flat surface gray wooden coaster>.",
+    "With an arm, lift the smooth blue drinking cup, guide it past the plastic shampoo bottle with smooth surface, and put the smooth blue drinking cup on the coaster made of smooth wood.",
+    "Use an arm, pick the cup with smooth plastic surface up, pass around the bottle with yellow cap, then place the cup with smooth plastic surface on the wooden coaster.",
+    "Using an arm, carry the medium blue cylindrical cup around the white bottle with golden accents and place the medium blue cylindrical cup onto the coaster made of smooth wood.",
+    "Use an arm, keep the cup with light blue color from the rectangular shampoo bottle with rounded top, and lower the cup with light blue color onto the coaster with circular shape.",
+    "Carry the cup with light blue color toward <the smooth round palm-sized coaster>, skirting <the white bottle with golden accents>, and set the cup with light blue color down.",
+    "Guide the light blue plastic cup with the arm around <the white shampoo bottle with golden top> and onto <the coaster made of smooth wood>.",
+    "Lift the cup with light blue color, guide it around <the bottle with yellow cap>, then put the cup with light blue color onto <the coaster made of smooth wood>.",
+    "Take the cup with smooth plastic surface in the arm, route around <the rectangular shampoo bottle with rounded top>, and set it on <the round coaster with light streaks>.",
+    "Use an arm, take the medium-sized plastic blue cup, avoid <the plastic shampoo bottle with smooth surface> on the way, and set on <the light gray round grainy coaster>.",
+    "With an arm, take the plastic cup for drinks, avoid the medium shampoo container, and put the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Move the rounded base blue cup to the flat surface gray wooden coaster while avoiding the white shampoo bottle, then place the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Use an arm to move the smooth blue drinking cup around the white shampoo bottle and rest the smooth blue drinking cup on the small coaster with grain texture.",
+    "Pick the plastic cup for drinks up, route it away from the bottle for shampoo with glossy finish, and drop the plastic cup for drinks onto the small coaster with grain texture.",
+    "Using an arm, pick the medium blue cylindrical cup up, skirt the bottle with yellow cap, and place the medium blue cylindrical cup on the grainy texture coaster.",
+    "Lift the smooth blue cup for liquids, keep clear of the medium shampoo container, and put the smooth blue cup for liquids down on the smooth round palm-sized coaster.",
+    "Use an arm: take the cylindrical light blue cup, avoid the plastic shampoo bottle with smooth surface during the move, and drop it on the flat round wooden coaster.",
+    "Take the cylindrical light blue cup, route it away from the white shampoo bottle with golden top, and set the cylindrical light blue cup onto the wooden coaster.",
+    "Take the light blue plastic cup, guide it away from <the white shampoo bottle with golden top>, and place the light blue plastic cup squarely on <the coaster with circular shape>.",
+    "With an arm, lift the cylindrical light blue cup, avoid the white shampoo bottle with golden top, and set the cylindrical light blue cup onto the round coaster.",
+    "Use an arm to move the cup for holding liquids to the smooth round palm-sized coaster, keeping the cup for holding liquids from bumping the hand-held shampoo bottle.",
+    "Take the cup with light blue color, keep its path away from the shampoo bottle, and place the cup with light blue color on the light gray round grainy coaster.",
+    "Use an arm to lift the medium blue cylindrical cup, keep distance from <the shampoo bottle with rectangular base>, and set the medium blue cylindrical cup on <the light gray streaked wooden coaster>.",
+    "With an arm, pick the medium blue cylindrical cup up, bypass <the hand-held shampoo bottle>, then place the medium blue cylindrical cup on <the coaster made of smooth wood>.",
+    "Pick up the medium blue cylindrical cup, keep its path away from <the white shampoo bottle with golden top>, and set the medium blue cylindrical cup on <the smooth round palm-sized coaster>.",
+    "Move the cup for holding liquids to <the round coaster> while keeping its path away from <the shampoo bottle>.",
+    "Lift the smooth blue cup for liquids, carry it around the smooth shampoo container, and place the smooth blue cup for liquids squarely on the grainy texture coaster.",
+    "Using an arm, grasp the plastic cup for drinks, skirt the white bottle with golden accents, and place the plastic cup for drinks atop the flat surface gray wooden coaster.",
+    "Take the medium-sized plastic blue cup, arc around <the bottle for shampoo with glossy finish>, and place the medium-sized plastic blue cup neatly on <the coaster with circular shape>.",
+    "Carry the plastic cup for drinks toward the flat round wooden coaster, keeping the plastic cup for drinks away from the white shampoo bottle, then set down.",
+    "Grab the cylindrical light blue cup, swing it away from <the white shampoo bottle with golden top>, and place the cylindrical light blue cup on <the round coaster>.",
+    "Lift the light blue plastic cup, pass beside <the white bottle with golden accents> without contact, then place the light blue plastic cup onto <the small coaster with grain texture>.",
+    "With an arm, lift the smooth blue drinking cup, route past <the bottle for shampoo with glossy finish>, and drop the smooth blue drinking cup onto <the small coaster with grain texture>.",
+    "Take the rounded base blue cup, keep its path away from the hand-held shampoo bottle, and drop the rounded base blue cup on the round coaster with light streaks.",
+    "Use the arm to lift the blue rounded-bottom cup, pass the rectangular shampoo bottle with rounded top, and place the blue rounded-bottom cup on the flat round wooden coaster.",
+    "Lift the rounded base blue cup, pass by the smooth shampoo container without contact, then place the rounded base blue cup on the wooden coaster.",
+    "Use an arm: grab the cup for holding liquids, avoid the medium shampoo container on the way, then set the cup for holding liquids on the light gray round grainy coaster.",
+    "Use an arm to take the blue rounded-bottom cup around <the bottle with yellow cap> and place the blue rounded-bottom cup on <the light gray round grainy coaster>.",
+    "Carry the medium blue cylindrical cup toward <the round coaster with light streaks>, keeping clear of <the white shampoo bottle>, and set the medium blue cylindrical cup down.",
+    "Arm-lift the plastic cup for drinks, swing around <the white bottle with golden accents>, then place the plastic cup for drinks onto <the round coaster with light streaks>.",
+    "Pick up the cylindrical light blue cup, avoid the white shampoo bottle with golden top along the way, and place the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Move the plastic cup for drinks onto <the grainy texture coaster> and ensure the path stays away from <the bottle with yellow cap>.",
+    "Lift the blue rounded-bottom cup, arc around the white bottle with golden accents, and place the blue rounded-bottom cup squarely on the small coaster with grain texture.",
+    "Move the medium blue cylindrical cup toward the grainy texture coaster without passing near the shampoo bottle with rectangular base, then set it down.",
+    "With an arm, bring the cylindrical light blue cup over to <the small coaster with grain texture> and keep clear of <the white bottle with golden accents>.",
+    "Pick up the medium-sized plastic blue cup, guide it past the shampoo bottle with rectangular base, and drop the medium-sized plastic blue cup on the light gray round grainy coaster.",
+    "Using an arm, pick the blue rounded-bottom cup up, skirt the bottle with yellow cap, and place the blue rounded-bottom cup on the round coaster."
+  ],
+  "unseen": [
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, route it around <the medium-sized shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the medium-sized shampoo bottle, and place it on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the white plastic shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the medium-sized shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with rounded yellow cap>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the medium-sized shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with rounded yellow cap, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle with rounded yellow cap, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the medium-sized shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, guide it around <the white plastic shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the medium-sized shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the medium-sized shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the white plastic shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the white plastic shampoo bottle, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the white plastic shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with rounded yellow cap>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the white plastic shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the medium-sized shampoo bottle, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the white plastic shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the white plastic shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with rounded yellow cap>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the medium-sized shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the white plastic shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the medium-sized shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the white plastic shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the white plastic shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the white plastic shampoo bottle, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the white plastic shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the medium-sized shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the medium-sized shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the white plastic shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the white plastic shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the small smooth cup on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with rounded yellow cap>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the medium-sized shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the medium-sized shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with rounded yellow cap, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the medium-sized shampoo bottle, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, guide it around <the white plastic shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the white plastic shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the shampoo bottle with rounded yellow cap>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white plastic shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the blue cup on <the light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the medium-sized shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the medium-sized shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white plastic shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the white plastic shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the white plastic shampoo bottle, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the white plastic shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with rounded yellow cap, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the medium-sized shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the shampoo bottle with rounded yellow cap>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the white plastic shampoo bottle, and place it on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the medium-sized shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the white plastic shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the white plastic shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the medium-sized shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with rounded yellow cap, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the medium-sized shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the white plastic shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the medium-sized shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the white plastic shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, route it around <the medium-sized shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the white plastic shampoo bottle, and place it on the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode25.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..16ce50e516fb36fa4afd102e068bf8e859f90618
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With an arm, pick the medium-sized plastic blue cup up, bypass <the shampoo bottle with curved sides>, then place the medium-sized plastic blue cup on <the coaster made of smooth wood>.",
+    "Use an arm to move the plastic cup for drinks to the flat round wooden coaster, keeping the plastic cup for drinks from bumping the handheld shampoo container.",
+    "Take the cylindrical light blue cup, route it away from the blue top shampoo bottle, and set the cylindrical light blue cup onto the round coaster with light streaks.",
+    "Slide the cylindrical light blue cup over to <the coaster made of smooth wood> without passing near <the curved shampoo bottle>.",
+    "Lift the blue rounded-bottom cup, arc around the blue top shampoo bottle, and place the blue rounded-bottom cup squarely on the round coaster.",
+    "Use an arm, keep the medium-sized plastic blue cup from the handheld shampoo container, and lower the medium-sized plastic blue cup onto the coaster with circular shape.",
+    "Take the cylindrical light blue cup, arc around <the shampoo bottle with curved sides>, and place the cylindrical light blue cup neatly on <the light gray streaked wooden coaster>.",
+    "Lift the smooth blue cup for liquids, route it away from the shampoo bottle with curved sides, then put the smooth blue cup for liquids squarely on the coaster made of smooth wood.",
+    "Pick up the rounded base blue cup, keep its path away from <the shampoo bottle with blue cap>, and set the rounded base blue cup on <the coaster with circular shape>.",
+    "With an arm, lift the plastic cup for drinks, guide it past the blue top shampoo bottle, and put the plastic cup for drinks on the grainy texture coaster.",
+    "Lift the light blue plastic cup, go around the shampoo bottle with curved sides, and position the light blue plastic cup squarely on the coaster made of smooth wood.",
+    "Use an arm to move the cup with smooth plastic surface around the medium-sized white plastic shampoo and rest the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Lift the medium-sized plastic blue cup, pass beside <the curved shampoo bottle> without contact, then place the medium-sized plastic blue cup onto <the light gray streaked wooden coaster>.",
+    "Use an arm, pick the cup for holding liquids up, pass around the blue top shampoo bottle, then place the cup for holding liquids on the coaster made of smooth wood.",
+    "Grab the light blue plastic cup, swing it away from <the white shampoo bottle>, and place the light blue plastic cup on <the small coaster with grain texture>.",
+    "Slide the light blue plastic cup toward the flat round wooden coaster, detouring around the shampoo bottle with blue cap, then set the light blue plastic cup down.",
+    "Using an arm, carry the rounded base blue cup past <the plastic shampoo bottle> and place the rounded base blue cup squarely on <the small coaster with grain texture>.",
+    "Guide the blue rounded-bottom cup with the arm around <the medium-sized white plastic shampoo> and onto <the round coaster with light streaks>.",
+    "Use an arm, take the medium-sized plastic blue cup past the bottle with smooth surface without nearing it, and rest the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "Move the rounded base blue cup to <the light gray streaked wooden coaster> while keeping its path away from <the white and blue shampoo container>.",
+    "Use an arm to lift the smooth blue cup for liquids, arc around the shampoo bottle with blue cap, and place the smooth blue cup for liquids atop the grainy texture coaster.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the curved shampoo bottle, and set the blue rounded-bottom cup onto the flat surface gray wooden coaster.",
+    "Use an arm: take the blue rounded-bottom cup, avoid the bottle with hexagonal blue cap during the move, and drop it on the coaster with circular shape.",
+    "Pick up the cylindrical light blue cup, guide it past the bottle with hexagonal blue cap, and drop the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Take the smooth blue drinking cup, keep its path away from the blue top shampoo bottle, and place the smooth blue drinking cup on the coaster made of smooth wood.",
+    "Using an arm, grasp the smooth blue drinking cup, skirt the shampoo bottle with blue cap, and place the smooth blue drinking cup atop the smooth round palm-sized coaster.",
+    "Move the medium-sized plastic blue cup to the light gray round grainy coaster while avoiding the plastic shampoo with orange label, then place the medium-sized plastic blue cup on the light gray round grainy coaster.",
+    "Lift the cup for holding liquids, keep clear of the blue top shampoo bottle, and put the cup for holding liquids down on the coaster with circular shape.",
+    "Pick up the medium-sized plastic blue cup, keep clear of <the bottle with hexagonal blue cap>, and drop the medium-sized plastic blue cup onto <the smooth round palm-sized coaster>.",
+    "Use an arm: grasp the cup with light blue color, avoid <the medium-sized white plastic shampoo>, and place the cup with light blue color on <the coaster with circular shape>.",
+    "With an arm, bring the medium-sized plastic blue cup over to <the flat round wooden coaster> and keep clear of <the shampoo bottle with curved sides>.",
+    "Carry the blue rounded-bottom cup toward <the coaster made of smooth wood>, keeping clear of <the bottle with hexagonal blue cap>, and set the blue rounded-bottom cup down.",
+    "Secure the smooth blue cup for liquids, move it around the bottle with smooth surface, and place the smooth blue cup for liquids squarely on the round coaster.",
+    "Use the arm to lift the plastic cup for drinks, pass the white shampoo bottle, and place the plastic cup for drinks on the flat round wooden coaster.",
+    "Use an arm: pick the light blue plastic cup up, skirt <the medium-sized white plastic shampoo>, then place the light blue plastic cup onto <the round coaster with light streaks>.",
+    "Use the arm to carry the blue rounded-bottom cup around the bottle with hexagonal blue cap, then rest the blue rounded-bottom cup on the small coaster with grain texture.",
+    "Using an arm, move the smooth blue drinking cup to <the flat surface gray wooden coaster> while avoiding <the curved shampoo bottle>, then release the smooth blue drinking cup.",
+    "Use an arm to take the medium-sized plastic blue cup around <the medium-sized white plastic shampoo> and place the medium-sized plastic blue cup on <the light gray streaked wooden coaster>.",
+    "With an arm, lift the plastic cup for drinks, keep it away from the bottle with smooth surface, and drop it onto the light gray round grainy coaster.",
+    "Move the cup with light blue color to <the smooth round palm-sized coaster> while keeping the cup with light blue color away from <the blue top shampoo bottle>, then release.",
+    "Move the light blue plastic cup to the wooden coaster without crossing the white shampoo bottle, then release the light blue plastic cup.",
+    "Carry the medium-sized plastic blue cup toward the wooden coaster, keeping the medium-sized plastic blue cup away from the blue top shampoo bottle, then set down.",
+    "Pick the light blue plastic cup up, route it away from the shampoo bottle with curved sides, and drop the light blue plastic cup onto the grainy texture coaster.",
+    "Take the cup for holding liquids, keep its path away from the bottle with hexagonal blue cap, and drop the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Pick up the cup with smooth plastic surface, route it away from the bottle with hexagonal blue cap, then set the cup with smooth plastic surface on the round coaster with light streaks.",
+    "Use an arm to move the medium blue cylindrical cup toward the flat round wooden coaster, keeping the medium blue cylindrical cup clear of the plastic shampoo bottle.",
+    "Lift the smooth blue drinking cup, steer away from <the shampoo bottle with blue cap>, then place the smooth blue drinking cup on <the grainy texture coaster>.",
+    "With an arm, lift the medium-sized plastic blue cup, route past <the plastic shampoo bottle>, and drop the medium-sized plastic blue cup onto <the light gray streaked wooden coaster>.",
+    "Use the arm to move the blue rounded-bottom cup past <the handheld shampoo container> and rest it on <the light gray round grainy coaster>.",
+    "Move the cup with smooth plastic surface onto the smooth round palm-sized coaster while avoiding the shampoo bottle with curved sides, then let go of the cup with smooth plastic surface.",
+    "Using an arm, pick the smooth blue drinking cup up, skirt the blue top shampoo bottle, and place the smooth blue drinking cup on the wooden coaster.",
+    "Use an arm to lift the cup for holding liquids, keep distance from <the handheld shampoo container>, and set the cup for holding liquids on <the light gray streaked wooden coaster>.",
+    "Using an arm, pick the rounded base blue cup up, skirt the medium-sized white plastic shampoo, and place the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Lift the smooth blue cup for liquids, guide it around <the shampoo bottle with curved sides>, then put the smooth blue cup for liquids onto <the round coaster with light streaks>.",
+    "With an arm, take the medium blue cylindrical cup, avoid the medium-sized white plastic shampoo, and put the medium blue cylindrical cup on the round coaster.",
+    "Grab the medium blue cylindrical cup, guide it away from the bottle with smooth surface, and set the medium blue cylindrical cup neatly on the round coaster.",
+    "Move the cup with smooth plastic surface onto <the coaster with circular shape> and ensure the path stays away from <the shampoo bottle with blue cap>.",
+    "Use an arm: grab the cylindrical light blue cup, avoid the white shampoo bottle on the way, then set the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Use an arm to grab the rounded base blue cup, avoid the bottle with hexagonal blue cap, and set the rounded base blue cup down on the round coaster with light streaks.",
+    "Take the plastic cup for drinks, swing wide of the plastic shampoo bottle, then rest the plastic cup for drinks on the smooth round palm-sized coaster.",
+    "Using an arm, carry the cup for holding liquids around the medium-sized white plastic shampoo and place the cup for holding liquids onto the grainy texture coaster.",
+    "Move the cup for holding liquids toward the coaster with circular shape without passing near the plastic shampoo bottle, then set it down.",
+    "Carry the light blue plastic cup toward <the small coaster with grain texture>, skirting <the white shampoo bottle>, and set the light blue plastic cup down.",
+    "With an arm, lift the cup for holding liquids, avoid the plastic shampoo bottle, and place the cup for holding liquids on the flat surface gray wooden coaster.",
+    "With an arm, move the cup for holding liquids past the bottle with hexagonal blue cap and place the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Take the medium-sized plastic blue cup in the arm, route around <the shampoo bottle with blue cap>, and set it on <the round coaster>.",
+    "Lift the blue rounded-bottom cup, carry it around the shampoo bottle with curved sides, and place the blue rounded-bottom cup squarely on the smooth round palm-sized coaster.",
+    "Use an arm, take the medium-sized plastic blue cup, avoid <the plastic shampoo with orange label> on the way, and set on <the light gray round grainy coaster>.",
+    "Arm-lift the cup for holding liquids, swing around <the shampoo bottle with curved sides>, then place the cup for holding liquids onto <the grainy texture coaster>.",
+    "Lift the medium-sized plastic blue cup, pass by the shampoo bottle with blue cap without contact, then place the medium-sized plastic blue cup on the light gray round grainy coaster.",
+    "Take the light blue plastic cup to the small coaster with grain texture while skirting the white and blue shampoo container, then release the light blue plastic cup on the small coaster with grain texture.",
+    "Carry the light blue plastic cup toward <the coaster with circular shape>, keeping the path clear of <the bottle with hexagonal blue cap>, then set down.",
+    "Pick up the medium-sized plastic blue cup, avoid the medium-sized white plastic shampoo along the way, and place the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Use an arm to bring the cup with smooth plastic surface to the smooth round palm-sized coaster, keeping the cup with smooth plastic surface clear of the plastic shampoo with orange label.",
+    "Take the cup with smooth plastic surface, guide it away from <the shampoo bottle with curved sides>, and place the cup with smooth plastic surface squarely on <the coaster with circular shape>.",
+    "With an arm, lift the blue rounded-bottom cup, avoid <the bottle with smooth surface> on the way, and drop the blue rounded-bottom cup on <the wooden coaster>.",
+    "Lift the light blue plastic cup, guide it past the handheld shampoo container, and rest the light blue plastic cup on the light gray round grainy coaster.",
+    "Move the smooth blue cup for liquids onto the coaster made of smooth wood while avoiding the shampoo bottle with blue cap, then let go of the smooth blue cup for liquids.",
+    "Grab the plastic cup for drinks, route around the bottle with smooth surface, then lower the plastic cup for drinks onto the flat surface gray wooden coaster.",
+    "Secure the medium blue cylindrical cup, keep its path away from the medium-sized white plastic shampoo, and set the medium blue cylindrical cup on the flat surface gray wooden coaster.",
+    "With an arm, pick the cup with smooth plastic surface up, bypass <the white shampoo bottle>, then place the cup with smooth plastic surface on <the flat surface gray wooden coaster>.",
+    "Use an arm to move the medium blue cylindrical cup to the coaster with circular shape, keeping the medium blue cylindrical cup from bumping the plastic shampoo with orange label.",
+    "Take the smooth blue drinking cup, route it away from the bottle with hexagonal blue cap, and set the smooth blue drinking cup onto the light gray round grainy coaster.",
+    "Slide the blue rounded-bottom cup over to <the wooden coaster> without passing near <the plastic shampoo bottle>.",
+    "Lift the plastic cup for drinks, arc around the shampoo bottle with curved sides, and place the plastic cup for drinks squarely on the round coaster with light streaks.",
+    "Use an arm, keep the cup with light blue color from the handheld shampoo container, and lower the cup with light blue color onto the small coaster with grain texture.",
+    "Take the plastic cup for drinks, arc around <the blue top shampoo bottle>, and place the plastic cup for drinks neatly on <the grainy texture coaster>.",
+    "Lift the smooth blue drinking cup, route it away from the white and blue shampoo container, then put the smooth blue drinking cup squarely on the flat round wooden coaster.",
+    "Pick up the rounded base blue cup, keep its path away from <the shampoo bottle with curved sides>, and set the rounded base blue cup on <the wooden coaster>.",
+    "With an arm, lift the blue rounded-bottom cup, guide it past the bottle with hexagonal blue cap, and put the blue rounded-bottom cup on the wooden coaster.",
+    "Lift the cup for holding liquids, go around the handheld shampoo container, and position the cup for holding liquids squarely on the round coaster with light streaks.",
+    "Use an arm to move the blue rounded-bottom cup around the curved shampoo bottle and rest the blue rounded-bottom cup on the coaster with circular shape.",
+    "Lift the medium blue cylindrical cup, pass beside <the plastic shampoo bottle> without contact, then place the medium blue cylindrical cup onto <the flat round wooden coaster>.",
+    "Use an arm, pick the smooth blue cup for liquids up, pass around the medium-sized white plastic shampoo, then place the smooth blue cup for liquids on the wooden coaster.",
+    "Grab the cylindrical light blue cup, swing it away from <the plastic shampoo with orange label>, and place the cylindrical light blue cup on <the coaster with circular shape>.",
+    "Slide the cup with smooth plastic surface toward the coaster made of smooth wood, detouring around the white and blue shampoo container, then set the cup with smooth plastic surface down.",
+    "Using an arm, carry the cup with smooth plastic surface past <the handheld shampoo container> and place the cup with smooth plastic surface squarely on <the wooden coaster>.",
+    "Guide the rounded base blue cup with the arm around <the blue top shampoo bottle> and onto <the light gray round grainy coaster>.",
+    "Use an arm, take the light blue plastic cup past the white and blue shampoo container without nearing it, and rest the light blue plastic cup on the smooth round palm-sized coaster.",
+    "Move the medium-sized plastic blue cup to <the wooden coaster> while keeping its path away from <the curved shampoo bottle>."
+  ],
+  "unseen": [
+    "Use an arm to pick up the blue cup, avoid the shampoo container in white and blue, and place the blue cup on the light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo container in white and blue>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container in white and blue, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container in white and blue, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the blue-capped shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the blue-capped shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the blue-capped shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, steer it around the shampoo container in white and blue, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white shampoo with orange design>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the white shampoo with orange design>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the blue-capped shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the blue-capped shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container in white and blue>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container in white and blue, and place it on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the white shampoo with orange design, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the blue-capped shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo container in white and blue>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, steer it around the white shampoo with orange design, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container in white and blue>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the blue cup, avoid <the white shampoo with orange design>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container in white and blue>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo container in white and blue, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white shampoo with orange design>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the white shampoo with orange design, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the blue-capped shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white shampoo with orange design, and place it on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container in white and blue, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the white shampoo with orange design, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the shampoo container in white and blue, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container in white and blue>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo container in white and blue, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the white shampoo with orange design>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the white shampoo with orange design>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, guide it around <the shampoo container in white and blue>, and place it on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white shampoo with orange design, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container in white and blue>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the white shampoo with orange design, and place the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the white shampoo with orange design>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white shampoo with orange design, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container in white and blue, and set it on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the white shampoo with orange design, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo container in white and blue>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, steer it around the white shampoo with orange design, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the white shampoo with orange design>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container in white and blue>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the white shampoo with orange design>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the white shampoo with orange design, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the white shampoo with orange design, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container in white and blue>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the white shampoo with orange design, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the white shampoo with orange design, and set it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the shampoo container in white and blue, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the shampoo container in white and blue, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container in white and blue>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container in white and blue>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container in white and blue>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the blue-capped shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white shampoo with orange design, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white shampoo with orange design>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container in white and blue, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the white shampoo with orange design>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the blue-capped shampoo bottle, and place it on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container in white and blue, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container in white and blue, and set it on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the white shampoo with orange design, then set the small smooth cup down on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, steer it around the white shampoo with orange design, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the blue-capped shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container in white and blue>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the shampoo container in white and blue>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo container in white and blue, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container in white and blue>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container in white and blue, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the white shampoo with orange design>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the blue-capped shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode26.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..5eec128a686b53b90aaa0135fed3b8f77ca77715
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With an arm, lift the plastic cup for drinks, avoid <the plastic shampoo bottle> on the way, and drop the plastic cup for drinks on <the flat surface gray wooden coaster>.",
+    "Pick up the cup for holding liquids, avoid the plastic shampoo with orange label along the way, and place the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Use the arm to carry the cylindrical light blue cup around the white and blue shampoo container, then rest the cylindrical light blue cup on the flat surface gray wooden coaster.",
+    "Use the arm to move the cylindrical light blue cup past <the plastic shampoo with orange label> and rest it on <the flat surface gray wooden coaster>.",
+    "Use an arm to move the light blue plastic cup around the plastic shampoo with orange label and rest the light blue plastic cup on the light gray round grainy coaster.",
+    "With an arm, take the rounded base blue cup, avoid the bottle with smooth surface, and put the rounded base blue cup on the round coaster with light streaks.",
+    "With an arm, pick the medium blue cylindrical cup up, bypass <the white shampoo bottle>, then place the medium blue cylindrical cup on <the flat round wooden coaster>.",
+    "Use an arm, take the light blue plastic cup, avoid <the curved shampoo bottle> on the way, and set on <the grainy texture coaster>.",
+    "Use an arm to take the light blue plastic cup around <the white shampoo bottle> and place the light blue plastic cup on <the coaster made of smooth wood>.",
+    "Take the cup with light blue color, swing wide of the white shampoo bottle, then rest the cup with light blue color on the flat surface gray wooden coaster.",
+    "Using an arm, pick the cup for holding liquids up, skirt the bottle with hexagonal blue cap, and place the cup for holding liquids on the wooden coaster.",
+    "Use an arm, take the smooth blue cup for liquids past the curved shampoo bottle without nearing it, and rest the smooth blue cup for liquids on the grainy texture coaster.",
+    "Take the light blue plastic cup in the arm, route around <the handheld shampoo container>, and set it on <the round coaster with light streaks>.",
+    "Guide the plastic cup for drinks with the arm around <the white shampoo bottle> and onto <the light gray streaked wooden coaster>.",
+    "Move the cup with smooth plastic surface to <the round coaster with light streaks> while keeping the cup with smooth plastic surface away from <the white and blue shampoo container>, then release.",
+    "Grab the blue rounded-bottom cup, guide it away from the handheld shampoo container, and set the blue rounded-bottom cup neatly on the round coaster.",
+    "Move the cup with smooth plastic surface to the small coaster with grain texture while avoiding the blue top shampoo bottle, then place the cup with smooth plastic surface on the small coaster with grain texture.",
+    "Move the cup with smooth plastic surface onto the light gray round grainy coaster while avoiding the handheld shampoo container, then let go of the cup with smooth plastic surface.",
+    "Lift the rounded base blue cup, keep clear of the white shampoo bottle, and put the rounded base blue cup down on the wooden coaster.",
+    "Use an arm to move the smooth blue cup for liquids toward the round coaster, keeping the smooth blue cup for liquids clear of the curved shampoo bottle.",
+    "Use an arm to bring the rounded base blue cup to the flat surface gray wooden coaster, keeping the rounded base blue cup clear of the plastic shampoo bottle.",
+    "Use an arm, keep the blue rounded-bottom cup from the plastic shampoo bottle, and lower the blue rounded-bottom cup onto the coaster with circular shape.",
+    "Using an arm, pick the smooth blue cup for liquids up, skirt the shampoo bottle with blue cap, and place the smooth blue cup for liquids on the round coaster with light streaks.",
+    "Take the rounded base blue cup, arc around <the bottle with smooth surface>, and place the rounded base blue cup neatly on <the small coaster with grain texture>.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the curved shampoo bottle, and set the cup with smooth plastic surface onto the coaster made of smooth wood.",
+    "Carry the smooth blue drinking cup toward <the wooden coaster>, keeping clear of <the medium-sized white plastic shampoo>, and set the smooth blue drinking cup down.",
+    "Lift the smooth blue cup for liquids, steer away from <the medium-sized white plastic shampoo>, then place the smooth blue cup for liquids on <the light gray streaked wooden coaster>.",
+    "Use an arm to grab the cylindrical light blue cup, avoid the plastic shampoo with orange label, and set the cylindrical light blue cup down on the light gray streaked wooden coaster.",
+    "Using an arm, carry the light blue plastic cup past <the shampoo bottle with blue cap> and place the light blue plastic cup squarely on <the flat surface gray wooden coaster>.",
+    "Lift the rounded base blue cup, pass beside <the white and blue shampoo container> without contact, then place the rounded base blue cup onto <the smooth round palm-sized coaster>.",
+    "Use an arm: take the cup with light blue color, avoid the bottle with smooth surface during the move, and drop it on the round coaster with light streaks.",
+    "Take the light blue plastic cup, keep its path away from the curved shampoo bottle, and drop the light blue plastic cup on the grainy texture coaster.",
+    "With an arm, bring the medium-sized plastic blue cup over to <the flat surface gray wooden coaster> and keep clear of <the shampoo bottle with curved sides>.",
+    "Lift the cylindrical light blue cup, carry it around the plastic shampoo with orange label, and place the cylindrical light blue cup squarely on the coaster with circular shape.",
+    "Lift the medium blue cylindrical cup, pass by the curved shampoo bottle without contact, then place the medium blue cylindrical cup on the flat surface gray wooden coaster.",
+    "Arm-lift the light blue plastic cup, swing around <the white shampoo bottle>, then place the light blue plastic cup onto <the coaster made of smooth wood>.",
+    "Lift the plastic cup for drinks, route it away from the shampoo bottle with curved sides, then put the plastic cup for drinks squarely on the flat surface gray wooden coaster.",
+    "Use an arm: grab the smooth blue cup for liquids, avoid the plastic shampoo bottle on the way, then set the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Lift the cup with smooth plastic surface, arc around the plastic shampoo with orange label, and place the cup with smooth plastic surface squarely on the wooden coaster.",
+    "Slide the cup for holding liquids toward the grainy texture coaster, detouring around the handheld shampoo container, then set the cup for holding liquids down.",
+    "Using an arm, carry the medium blue cylindrical cup around the bottle with hexagonal blue cap and place the medium blue cylindrical cup onto the smooth round palm-sized coaster.",
+    "Take the blue rounded-bottom cup, keep its path away from the bottle with smooth surface, and place the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Move the medium-sized plastic blue cup toward the light gray streaked wooden coaster without passing near the blue top shampoo bottle, then set it down.",
+    "Pick up the cup with light blue color, keep its path away from <the bottle with smooth surface>, and set the cup with light blue color on <the flat round wooden coaster>.",
+    "Use the arm to lift the smooth blue drinking cup, pass the handheld shampoo container, and place the smooth blue drinking cup on the grainy texture coaster.",
+    "Grab the cup for holding liquids, route around the shampoo bottle with blue cap, then lower the cup for holding liquids onto the wooden coaster.",
+    "Slide the cup for holding liquids over to <the smooth round palm-sized coaster> without passing near <the medium-sized white plastic shampoo>.",
+    "Carry the medium-sized plastic blue cup toward <the light gray round grainy coaster>, skirting <the bottle with smooth surface>, and set the medium-sized plastic blue cup down.",
+    "Move the cup for holding liquids to the coaster with circular shape without crossing the white shampoo bottle, then release the cup for holding liquids.",
+    "Use an arm: grasp the medium-sized plastic blue cup, avoid <the bottle with smooth surface>, and place the medium-sized plastic blue cup on <the wooden coaster>.",
+    "Take the medium-sized plastic blue cup, route it away from the medium-sized white plastic shampoo, and set the medium-sized plastic blue cup onto the wooden coaster.",
+    "With an arm, lift the cup for holding liquids, keep it away from the bottle with smooth surface, and drop it onto the round coaster.",
+    "Pick the cup with light blue color up, route it away from the bottle with smooth surface, and drop the cup with light blue color onto the coaster made of smooth wood.",
+    "Move the smooth blue cup for liquids onto <the flat surface gray wooden coaster> and ensure the path stays away from <the handheld shampoo container>.",
+    "Lift the medium-sized plastic blue cup, guide it around <the plastic shampoo with orange label>, then put the medium-sized plastic blue cup onto <the coaster with circular shape>.",
+    "Use an arm to lift the cup for holding liquids, keep distance from <the plastic shampoo with orange label>, and set the cup for holding liquids on <the small coaster with grain texture>.",
+    "Secure the smooth blue cup for liquids, keep its path away from the white shampoo bottle, and set the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Carry the blue rounded-bottom cup toward the smooth round palm-sized coaster, keeping the blue rounded-bottom cup away from the plastic shampoo with orange label, then set down.",
+    "With an arm, lift the cylindrical light blue cup, route past <the white shampoo bottle>, and drop the cylindrical light blue cup onto <the wooden coaster>.",
+    "Pick up the blue rounded-bottom cup, route it away from the white shampoo bottle, then set the blue rounded-bottom cup on the round coaster with light streaks.",
+    "With an arm, lift the smooth blue drinking cup, avoid the handheld shampoo container, and place the smooth blue drinking cup on the grainy texture coaster.",
+    "Using an arm, move the cup for holding liquids to <the coaster made of smooth wood> while avoiding <the shampoo bottle with curved sides>, then release the cup for holding liquids.",
+    "Carry the smooth blue cup for liquids toward <the round coaster with light streaks>, keeping the path clear of <the white shampoo bottle>, then set down.",
+    "Take the smooth blue cup for liquids, guide it away from <the curved shampoo bottle>, and place the smooth blue cup for liquids squarely on <the small coaster with grain texture>.",
+    "Pick up the cylindrical light blue cup, guide it past the bottle with hexagonal blue cap, and drop the cylindrical light blue cup on the flat surface gray wooden coaster.",
+    "Use an arm to move the light blue plastic cup to the flat round wooden coaster, keeping the light blue plastic cup from bumping the shampoo bottle with curved sides.",
+    "Use an arm: pick the plastic cup for drinks up, skirt <the shampoo bottle with curved sides>, then place the plastic cup for drinks onto <the round coaster with light streaks>.",
+    "With an arm, lift the smooth blue drinking cup, guide it past the blue top shampoo bottle, and put the smooth blue drinking cup on the round coaster with light streaks.",
+    "Move the cylindrical light blue cup onto the coaster with circular shape while avoiding the handheld shampoo container, then let go of the cylindrical light blue cup.",
+    "Move the smooth blue drinking cup to <the coaster with circular shape> while keeping its path away from <the handheld shampoo container>.",
+    "With an arm, move the cylindrical light blue cup past the medium-sized white plastic shampoo and place the cylindrical light blue cup on the coaster with circular shape.",
+    "Pick up the cup with smooth plastic surface, keep clear of <the bottle with hexagonal blue cap>, and drop the cup with smooth plastic surface onto <the flat surface gray wooden coaster>.",
+    "Grab the plastic cup for drinks, swing it away from <the curved shampoo bottle>, and place the plastic cup for drinks on <the light gray streaked wooden coaster>.",
+    "Using an arm, grasp the light blue plastic cup, skirt the blue top shampoo bottle, and place the light blue plastic cup atop the smooth round palm-sized coaster.",
+    "Take the plastic cup for drinks to the round coaster while skirting the curved shampoo bottle, then release the plastic cup for drinks on the round coaster.",
+    "Lift the light blue plastic cup, go around the medium-sized white plastic shampoo, and position the light blue plastic cup squarely on the wooden coaster.",
+    "Secure the cup with light blue color, move it around the white shampoo bottle, and place the cup with light blue color squarely on the flat round wooden coaster.",
+    "Lift the cup with smooth plastic surface, guide it past the medium-sized white plastic shampoo, and rest the cup with smooth plastic surface on the small coaster with grain texture.",
+    "Use an arm to lift the smooth blue cup for liquids, arc around the shampoo bottle with blue cap, and place the smooth blue cup for liquids atop the small coaster with grain texture.",
+    "Use an arm, pick the cup with light blue color up, pass around the shampoo bottle with curved sides, then place the cup with light blue color on the round coaster.",
+    "With an arm, lift the light blue plastic cup, avoid <the white and blue shampoo container> on the way, and drop the light blue plastic cup on <the flat round wooden coaster>.",
+    "Pick up the cup with smooth plastic surface, avoid the white and blue shampoo container along the way, and place the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "Use the arm to carry the cup for holding liquids around the curved shampoo bottle, then rest the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Use the arm to move the cylindrical light blue cup past <the plastic shampoo with orange label> and rest it on <the flat surface gray wooden coaster>.",
+    "Use an arm to move the cup with light blue color around the shampoo bottle with curved sides and rest the cup with light blue color on the light gray streaked wooden coaster.",
+    "With an arm, take the cup for holding liquids, avoid the white shampoo bottle, and put the cup for holding liquids on the grainy texture coaster.",
+    "With an arm, pick the medium-sized plastic blue cup up, bypass <the shampoo bottle with blue cap>, then place the medium-sized plastic blue cup on <the small coaster with grain texture>.",
+    "Use an arm, take the medium blue cylindrical cup, avoid <the white and blue shampoo container> on the way, and set on <the smooth round palm-sized coaster>.",
+    "Use an arm to take the plastic cup for drinks around <the shampoo bottle with blue cap> and place the plastic cup for drinks on <the grainy texture coaster>.",
+    "Take the light blue plastic cup, swing wide of the bottle with smooth surface, then rest the light blue plastic cup on the smooth round palm-sized coaster.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the plastic shampoo with orange label, and place the cylindrical light blue cup on the round coaster with light streaks.",
+    "Use an arm, take the plastic cup for drinks past the shampoo bottle with blue cap without nearing it, and rest the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Take the smooth blue cup for liquids in the arm, route around <the plastic shampoo bottle>, and set it on <the small coaster with grain texture>.",
+    "Guide the cup with light blue color with the arm around <the plastic shampoo with orange label> and onto <the light gray streaked wooden coaster>.",
+    "Move the light blue plastic cup to <the round coaster with light streaks> while keeping the light blue plastic cup away from <the white and blue shampoo container>, then release.",
+    "Grab the medium-sized plastic blue cup, guide it away from the blue top shampoo bottle, and set the medium-sized plastic blue cup neatly on the wooden coaster.",
+    "Move the rounded base blue cup to the light gray streaked wooden coaster while avoiding the white shampoo bottle, then place the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Move the rounded base blue cup onto the light gray streaked wooden coaster while avoiding the handheld shampoo container, then let go of the rounded base blue cup.",
+    "Lift the smooth blue cup for liquids, keep clear of the curved shampoo bottle, and put the smooth blue cup for liquids down on the round coaster with light streaks.",
+    "Use an arm to move the blue rounded-bottom cup toward the smooth round palm-sized coaster, keeping the blue rounded-bottom cup clear of the plastic shampoo with orange label."
+  ],
+  "unseen": [
+    "Grab the handheld round blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the white shampoo with orange design, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the blue-capped shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container in white and blue, and set it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo container in white and blue, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the blue-capped shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the white shampoo with orange design, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the blue-capped shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, steer it around the shampoo container in white and blue, then set the small smooth cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container in white and blue>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the white shampoo with orange design, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the white shampoo with orange design, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo container in white and blue, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white shampoo with orange design, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the blue-capped shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the white shampoo with orange design>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container in white and blue>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the blue-capped shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the white shampoo with orange design>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around <the blue-capped shampoo bottle>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the white shampoo with orange design, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white shampoo with orange design>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, guide it around <the white shampoo with orange design>, and place it on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the blue-capped shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the white shampoo with orange design, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the blue-capped shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the blue-capped shampoo bottle, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the white shampoo with orange design>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the white shampoo with orange design, and place the blue cup on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the blue-capped shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the white shampoo with orange design, then set the blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container in white and blue>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the white shampoo with orange design>, and place it on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the white shampoo with orange design, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the blue-capped shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white shampoo with orange design, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container in white and blue, and set it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo container in white and blue, then set the blue cup down on the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container in white and blue>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container in white and blue>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container in white and blue, and place the blue cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo container in white and blue>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the blue-capped shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the blue-capped shampoo bottle, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the blue-capped shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the white shampoo with orange design, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container in white and blue, and place it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the white shampoo with orange design, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, carry it around the blue-capped shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the white shampoo with orange design>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the white shampoo with orange design>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white shampoo with orange design, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the white shampoo with orange design>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container in white and blue>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the shampoo container in white and blue, then set the blue cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container in white and blue>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, guide it around <the shampoo container in white and blue>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the white shampoo with orange design, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the white shampoo with orange design, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white shampoo with orange design, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the white shampoo with orange design, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, carry it around the white shampoo with orange design, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the white shampoo with orange design>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the blue-capped shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, avoid the white shampoo with orange design, and place the blue cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo container in white and blue>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the white shampoo with orange design>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the white shampoo with orange design, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white shampoo with orange design>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, guide it around <the shampoo container in white and blue>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container in white and blue, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the white shampoo with orange design, and place it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode27.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2375504afb0ad288cd3235c4037470ec4d8aa72
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the smooth blue drinking cup, swing it away from <the medium oval plastic shampoo container>, and place the smooth blue drinking cup on <the smooth round palm-sized coaster>.",
+    "With an arm, pick the blue rounded-bottom cup up, bypass <the smooth white shampoo dispenser>, then place the blue rounded-bottom cup on <the round coaster>.",
+    "Move the medium blue cylindrical cup onto <the light gray streaked wooden coaster> and ensure the path stays away from <the shampoo bottle with pink cap>.",
+    "Using an arm, pick the plastic cup for drinks up, skirt the plastic shampoo container, and place the plastic cup for drinks on the light gray round grainy coaster.",
+    "Secure the light blue plastic cup, keep its path away from the glossy white shampoo bottle, and set the light blue plastic cup on the small coaster with grain texture.",
+    "Use an arm: grasp the smooth blue cup for liquids, avoid <the hand-sized shampoo bottle>, and place the smooth blue cup for liquids on <the coaster made of smooth wood>.",
+    "With an arm, lift the medium blue cylindrical cup, avoid the smooth white shampoo dispenser, and set the medium blue cylindrical cup onto the coaster with circular shape.",
+    "Use the arm to carry the light blue plastic cup around the white body pink flip cap bottle, then rest the light blue plastic cup on the flat round wooden coaster.",
+    "Move the smooth blue cup for liquids onto the round coaster while avoiding the glossy white shampoo bottle, then let go of the smooth blue cup for liquids.",
+    "Lift the smooth blue cup for liquids, route it away from the pink-topped shampoo bottle, then put the smooth blue cup for liquids squarely on the small coaster with grain texture.",
+    "Use the arm to move the rounded base blue cup past <the smooth white shampoo dispenser> and rest it on <the small coaster with grain texture>.",
+    "Move the medium blue cylindrical cup to <the round coaster> while keeping its path away from <the pink-topped shampoo bottle>.",
+    "Take the medium-sized plastic blue cup, route it away from the medium oval plastic shampoo container, and set the medium-sized plastic blue cup onto the round coaster with light streaks.",
+    "Lift the cup for holding liquids, keep clear of the plastic shampoo container, and put the cup for holding liquids down on the smooth round palm-sized coaster.",
+    "Arm-lift the cup with smooth plastic surface, swing around <the medium oval plastic shampoo container>, then place the cup with smooth plastic surface onto <the light gray streaked wooden coaster>.",
+    "Take the cylindrical light blue cup, swing wide of the white body pink flip cap bottle, then rest the cylindrical light blue cup on the small coaster with grain texture.",
+    "Pick the cup with light blue color up, route it away from the shampoo bottle with pink cap, and drop the cup with light blue color onto the light gray round grainy coaster.",
+    "Use an arm: pick the medium-sized plastic blue cup up, skirt <the pink-topped shampoo bottle>, then place the medium-sized plastic blue cup onto <the light gray streaked wooden coaster>.",
+    "Use an arm: grab the plastic cup for drinks, avoid the white shampoo bottle on the way, then set the plastic cup for drinks on the coaster made of smooth wood.",
+    "Grab the smooth blue cup for liquids, route around the white shampoo bottle, then lower the smooth blue cup for liquids onto the flat round wooden coaster.",
+    "With an arm, take the rounded base blue cup, avoid the white shampoo bottle, and put the rounded base blue cup on the coaster made of smooth wood.",
+    "Lift the cylindrical light blue cup, go around the medium shampoo bottle, and position the cylindrical light blue cup squarely on the flat surface gray wooden coaster.",
+    "Take the smooth blue cup for liquids, guide it away from <the smooth white shampoo dispenser>, and place the smooth blue cup for liquids squarely on <the flat round wooden coaster>.",
+    "Lift the rounded base blue cup, carry it around the shampoo dispenser with flat base, and place the rounded base blue cup squarely on the coaster made of smooth wood.",
+    "Carry the plastic cup for drinks toward <the light gray streaked wooden coaster>, keeping clear of <the medium oval plastic shampoo container>, and set the plastic cup for drinks down.",
+    "Using an arm, move the cup with smooth plastic surface to <the coaster with circular shape> while avoiding <the shampoo bottle with pink cap>, then release the cup with smooth plastic surface.",
+    "Use an arm: take the cup for holding liquids, avoid the hand-sized shampoo bottle during the move, and drop it on the smooth round palm-sized coaster.",
+    "Take the smooth blue drinking cup, keep its path away from the pink-topped shampoo bottle, and place the smooth blue drinking cup on the flat round wooden coaster.",
+    "Take the smooth blue drinking cup, arc around <the plastic shampoo container>, and place the smooth blue drinking cup neatly on <the wooden coaster>.",
+    "Use an arm to move the light blue plastic cup toward the wooden coaster, keeping the light blue plastic cup clear of the pink-topped shampoo bottle.",
+    "Use an arm, take the cup with smooth plastic surface past the glossy white shampoo bottle without nearing it, and rest the cup with smooth plastic surface on the round coaster.",
+    "Use an arm to lift the cylindrical light blue cup, arc around the white body pink flip cap bottle, and place the cylindrical light blue cup atop the light gray round grainy coaster.",
+    "With an arm, lift the cup for holding liquids, avoid the oval-shaped shampoo bottle, and place the cup for holding liquids on the wooden coaster.",
+    "Use an arm to take the light blue plastic cup around <the glossy white shampoo bottle> and place the light blue plastic cup on <the round coaster>.",
+    "Slide the smooth blue cup for liquids over to <the smooth round palm-sized coaster> without passing near <the hand-sized shampoo bottle>.",
+    "Use an arm, pick the rounded base blue cup up, pass around the medium shampoo bottle, then place the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Move the medium blue cylindrical cup onto the coaster with circular shape while avoiding the shampoo bottle with pink cap, then let go of the medium blue cylindrical cup.",
+    "Pick up the light blue plastic cup, route it away from the shampoo bottle with pink cap, then set the light blue plastic cup on the round coaster with light streaks.",
+    "Move the light blue plastic cup to the round coaster with light streaks while avoiding the plastic shampoo container, then place the light blue plastic cup on the round coaster with light streaks.",
+    "Carry the cylindrical light blue cup toward <the grainy texture coaster>, keeping the path clear of <the glossy white shampoo bottle>, then set down.",
+    "Pick up the cup with light blue color, avoid the medium shampoo bottle along the way, and place the cup with light blue color on the grainy texture coaster.",
+    "Secure the smooth blue drinking cup, move it around the white shampoo bottle, and place the smooth blue drinking cup squarely on the grainy texture coaster.",
+    "With an arm, lift the smooth blue cup for liquids, avoid <the medium shampoo bottle> on the way, and drop the smooth blue cup for liquids on <the light gray streaked wooden coaster>.",
+    "Use an arm to move the cup for holding liquids around the smooth white shampoo dispenser and rest the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Use an arm to bring the rounded base blue cup to the small coaster with grain texture, keeping the rounded base blue cup clear of the white shampoo bottle.",
+    "With an arm, lift the smooth blue cup for liquids, guide it past the smooth white shampoo dispenser, and put the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Use an arm, take the cup with light blue color, avoid <the smooth white shampoo dispenser> on the way, and set on <the flat surface gray wooden coaster>.",
+    "Use an arm to move the cup for holding liquids to the small coaster with grain texture, keeping the cup for holding liquids from bumping the smooth white shampoo dispenser.",
+    "Pick up the cup for holding liquids, guide it past the pink-topped shampoo bottle, and drop the cup for holding liquids on the round coaster with light streaks.",
+    "Using an arm, carry the rounded base blue cup around the glossy white shampoo bottle and place the rounded base blue cup onto the coaster made of smooth wood.",
+    "Use an arm, keep the smooth blue cup for liquids from the oval-shaped shampoo bottle, and lower the smooth blue cup for liquids onto the coaster with circular shape.",
+    "Pick up the light blue plastic cup, keep its path away from <the pink-topped shampoo bottle>, and set the light blue plastic cup on <the coaster with circular shape>.",
+    "Using an arm, pick the plastic cup for drinks up, skirt the hand-sized shampoo bottle, and place the plastic cup for drinks on the small coaster with grain texture.",
+    "Take the cup for holding liquids, keep its path away from the pink-topped shampoo bottle, and drop the cup for holding liquids on the coaster with circular shape.",
+    "Grab the smooth blue drinking cup, guide it away from the white shampoo bottle, and set the smooth blue drinking cup neatly on the light gray streaked wooden coaster.",
+    "Move the smooth blue drinking cup to <the round coaster with light streaks> while keeping the smooth blue drinking cup away from <the pink-topped shampoo bottle>, then release.",
+    "Lift the cup with light blue color, steer away from <the white body pink flip cap bottle>, then place the cup with light blue color on <the smooth round palm-sized coaster>.",
+    "Guide the smooth blue cup for liquids with the arm around <the oval-shaped shampoo bottle> and onto <the round coaster with light streaks>.",
+    "Using an arm, grasp the smooth blue cup for liquids, skirt the oval-shaped shampoo bottle, and place the smooth blue cup for liquids atop the grainy texture coaster.",
+    "Use an arm to lift the plastic cup for drinks, keep distance from <the glossy white shampoo bottle>, and set the plastic cup for drinks on <the flat round wooden coaster>.",
+    "Pick up the plastic cup for drinks, keep clear of <the shampoo dispenser with flat base>, and drop the plastic cup for drinks onto <the coaster made of smooth wood>.",
+    "Carry the medium blue cylindrical cup toward <the wooden coaster>, skirting <the glossy white shampoo bottle>, and set the medium blue cylindrical cup down.",
+    "Lift the blue rounded-bottom cup, arc around the shampoo bottle with pink cap, and place the blue rounded-bottom cup squarely on the small coaster with grain texture.",
+    "Lift the light blue plastic cup, pass by the medium shampoo bottle without contact, then place the light blue plastic cup on the round coaster.",
+    "With an arm, lift the cup with smooth plastic surface, route past <the oval-shaped shampoo bottle>, and drop the cup with smooth plastic surface onto <the flat round wooden coaster>.",
+    "Lift the cylindrical light blue cup, guide it past the hand-sized shampoo bottle, and rest the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Use the arm to lift the medium-sized plastic blue cup, pass the white shampoo bottle, and place the medium-sized plastic blue cup on the wooden coaster.",
+    "With an arm, move the light blue plastic cup past the white shampoo bottle and place the light blue plastic cup on the round coaster.",
+    "Lift the blue rounded-bottom cup, guide it around <the white shampoo bottle>, then put the blue rounded-bottom cup onto <the flat round wooden coaster>.",
+    "With an arm, lift the blue rounded-bottom cup, keep it away from the pink-topped shampoo bottle, and drop it onto the grainy texture coaster.",
+    "Lift the medium-sized plastic blue cup, pass beside <the medium oval plastic shampoo container> without contact, then place the medium-sized plastic blue cup onto <the round coaster with light streaks>.",
+    "Using an arm, carry the light blue plastic cup past <the white shampoo bottle> and place the light blue plastic cup squarely on <the smooth round palm-sized coaster>.",
+    "Move the cup with light blue color to the light gray round grainy coaster without crossing the medium shampoo bottle, then release the cup with light blue color.",
+    "Carry the cup with light blue color toward the smooth round palm-sized coaster, keeping the cup with light blue color away from the medium oval plastic shampoo container, then set down.",
+    "With an arm, bring the cup for holding liquids over to <the coaster made of smooth wood> and keep clear of <the oval-shaped shampoo bottle>.",
+    "Take the medium blue cylindrical cup in the arm, route around <the white shampoo bottle>, and set it on <the flat surface gray wooden coaster>.",
+    "Move the smooth blue cup for liquids toward the coaster with circular shape without passing near the hand-sized shampoo bottle, then set it down.",
+    "Take the rounded base blue cup to the round coaster with light streaks while skirting the smooth white shampoo dispenser, then release the rounded base blue cup on the round coaster with light streaks.",
+    "Slide the smooth blue drinking cup toward the round coaster, detouring around the glossy white shampoo bottle, then set the smooth blue drinking cup down.",
+    "Use an arm to grab the cup with light blue color, avoid the white body pink flip cap bottle, and set the cup with light blue color down on the coaster with circular shape.",
+    "Grab the medium blue cylindrical cup, swing it away from <the shampoo dispenser with flat base>, and place the medium blue cylindrical cup on <the smooth round palm-sized coaster>.",
+    "With an arm, pick the cup with light blue color up, bypass <the smooth white shampoo dispenser>, then place the cup with light blue color on <the coaster with circular shape>.",
+    "Move the medium blue cylindrical cup onto <the wooden coaster> and ensure the path stays away from <the glossy white shampoo bottle>.",
+    "Using an arm, pick the plastic cup for drinks up, skirt the white body pink flip cap bottle, and place the plastic cup for drinks on the round coaster.",
+    "Secure the rounded base blue cup, keep its path away from the hand-sized shampoo bottle, and set the rounded base blue cup on the grainy texture coaster.",
+    "Use an arm: grasp the smooth blue drinking cup, avoid <the smooth white shampoo dispenser>, and place the smooth blue drinking cup on <the coaster with circular shape>.",
+    "With an arm, lift the cup for holding liquids, avoid the white body pink flip cap bottle, and set the cup for holding liquids onto the light gray round grainy coaster.",
+    "Use the arm to carry the cylindrical light blue cup around the hand-sized shampoo bottle, then rest the cylindrical light blue cup on the small coaster with grain texture.",
+    "Move the cup with smooth plastic surface onto the small coaster with grain texture while avoiding the pink-topped shampoo bottle, then let go of the cup with smooth plastic surface.",
+    "Lift the medium blue cylindrical cup, route it away from the white body pink flip cap bottle, then put the medium blue cylindrical cup squarely on the light gray streaked wooden coaster.",
+    "Use the arm to move the cup for holding liquids past <the white body pink flip cap bottle> and rest it on <the light gray round grainy coaster>.",
+    "Move the plastic cup for drinks to <the round coaster with light streaks> while keeping its path away from <the shampoo bottle with pink cap>.",
+    "Take the cup with light blue color, route it away from the white body pink flip cap bottle, and set the cup with light blue color onto the light gray streaked wooden coaster.",
+    "Lift the medium blue cylindrical cup, keep clear of the glossy white shampoo bottle, and put the medium blue cylindrical cup down on the flat round wooden coaster.",
+    "Arm-lift the light blue plastic cup, swing around <the shampoo dispenser with flat base>, then place the light blue plastic cup onto <the wooden coaster>.",
+    "Take the medium-sized plastic blue cup, swing wide of the shampoo bottle with pink cap, then rest the medium-sized plastic blue cup on the small coaster with grain texture.",
+    "Pick the light blue plastic cup up, route it away from the shampoo dispenser with flat base, and drop the light blue plastic cup onto the round coaster with light streaks.",
+    "Use an arm: pick the medium-sized plastic blue cup up, skirt <the shampoo dispenser with flat base>, then place the medium-sized plastic blue cup onto <the coaster with circular shape>.",
+    "Use an arm: grab the smooth blue cup for liquids, avoid the glossy white shampoo bottle on the way, then set the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "Grab the cup for holding liquids, route around the hand-sized shampoo bottle, then lower the cup for holding liquids onto the round coaster."
+  ],
+  "unseen": [
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with Dove logo>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the bottle for holding shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with Dove logo, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the Dove shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with Dove logo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the shampoo bottle with Dove logo, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the Dove shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the bottle for holding shampoo, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the bottle for holding shampoo, and set the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the Dove shampoo bottle, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the bottle for holding shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, route it around <the bottle for holding shampoo>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with Dove logo, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with Dove logo>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the bottle for holding shampoo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the Dove shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with Dove logo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the Dove shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with Dove logo>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the bottle for holding shampoo>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the shampoo bottle with Dove logo, then set the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with Dove logo, and set it on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with Dove logo, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with Dove logo, then set the handheld round blue cup down on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with Dove logo, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the bottle for holding shampoo>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the bottle for holding shampoo>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with Dove logo, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the bottle for holding shampoo>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the Dove shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the Dove shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the Dove shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the bottle for holding shampoo>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the Dove shampoo bottle, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the Dove shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the Dove shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with Dove logo, and set the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the bottle for holding shampoo, then set the blue cup down on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the bottle for holding shampoo>, and place it on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the Dove shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the bottle for holding shampoo, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the Dove shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with Dove logo>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the bottle for holding shampoo, and set the blue cup on the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with Dove logo>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the bottle for holding shampoo>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, steer it around the shampoo bottle with Dove logo, then set the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the Dove shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the Dove shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the Dove shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the bottle for holding shampoo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the Dove shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with Dove logo>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with Dove logo, and place it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the Dove shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the Dove shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the bottle for holding shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the bottle for holding shampoo>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the bottle for holding shampoo>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the Dove shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with Dove logo, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with Dove logo, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with Dove logo, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the bottle for holding shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the Dove shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the Dove shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the Dove shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the Dove shampoo bottle>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the Dove shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the Dove shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the bottle for holding shampoo>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with Dove logo>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the Dove shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with Dove logo, and set it on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the bottle for holding shampoo, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo bottle with Dove logo, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the Dove shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the Dove shampoo bottle>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with Dove logo>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the Dove shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the bottle for holding shampoo>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the Dove shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with Dove logo>, and set the handheld round blue cup on <the light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode28.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..16f11b5d03a9d8224671967af3eb55a2e0bfa644
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm: grasp the plastic cup for drinks, avoid <the handheld shampoo container>, and place the plastic cup for drinks on <the grainy texture coaster>.",
+    "Lift the cup with light blue color, steer away from <the plastic shampoo with orange label>, then place the cup with light blue color on <the coaster made of smooth wood>.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the plastic shampoo with orange label, and place the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Secure the smooth blue cup for liquids, keep its path away from the shampoo bottle with blue cap, and set the smooth blue cup for liquids on the coaster made of smooth wood.",
+    "With an arm, lift the plastic cup for drinks, route past <the shampoo bottle with blue cap>, and drop the plastic cup for drinks onto <the light gray streaked wooden coaster>.",
+    "Grab the cup with smooth plastic surface, swing it away from <the blue top shampoo bottle>, and place the cup with smooth plastic surface on <the light gray round grainy coaster>.",
+    "Use an arm to lift the medium blue cylindrical cup, arc around the medium-sized white plastic shampoo, and place the medium blue cylindrical cup atop the light gray streaked wooden coaster.",
+    "Move the blue rounded-bottom cup to <the coaster made of smooth wood> while keeping the blue rounded-bottom cup away from <the shampoo bottle with curved sides>, then release.",
+    "With an arm, lift the cup with light blue color, keep it away from the shampoo bottle with blue cap, and drop it onto the round coaster with light streaks.",
+    "Slide the cup with light blue color toward the grainy texture coaster, detouring around the handheld shampoo container, then set the cup with light blue color down.",
+    "Move the smooth blue drinking cup to the small coaster with grain texture without crossing the plastic shampoo with orange label, then release the smooth blue drinking cup.",
+    "Lift the rounded base blue cup, route it away from the white shampoo bottle, then put the rounded base blue cup squarely on the small coaster with grain texture.",
+    "Lift the medium blue cylindrical cup, pass beside <the bottle with hexagonal blue cap> without contact, then place the medium blue cylindrical cup onto <the small coaster with grain texture>.",
+    "Carry the cup for holding liquids toward <the round coaster>, keeping clear of <the bottle with smooth surface>, and set the cup for holding liquids down.",
+    "Using an arm, carry the medium-sized plastic blue cup around the bottle with smooth surface and place the medium-sized plastic blue cup onto the light gray round grainy coaster.",
+    "Take the smooth blue drinking cup, guide it away from <the white and blue shampoo container>, and place the smooth blue drinking cup squarely on <the wooden coaster>.",
+    "Lift the plastic cup for drinks, pass by the plastic shampoo with orange label without contact, then place the plastic cup for drinks on the coaster made of smooth wood.",
+    "Take the blue rounded-bottom cup, route it away from the plastic shampoo with orange label, and set the blue rounded-bottom cup onto the round coaster with light streaks.",
+    "Use an arm: pick the blue rounded-bottom cup up, skirt <the medium-sized white plastic shampoo>, then place the blue rounded-bottom cup onto <the wooden coaster>.",
+    "Move the cylindrical light blue cup to the flat round wooden coaster while avoiding the curved shampoo bottle, then place the cylindrical light blue cup on the flat round wooden coaster.",
+    "Take the cup with smooth plastic surface, keep its path away from the medium-sized white plastic shampoo, and drop the cup with smooth plastic surface on the round coaster.",
+    "Use an arm to take the cup with light blue color around <the handheld shampoo container> and place the cup with light blue color on <the small coaster with grain texture>.",
+    "Take the smooth blue cup for liquids, keep its path away from the blue top shampoo bottle, and place the smooth blue cup for liquids on the light gray round grainy coaster.",
+    "Use an arm to move the blue rounded-bottom cup to the light gray streaked wooden coaster, keeping the blue rounded-bottom cup from bumping the shampoo bottle with curved sides.",
+    "Use an arm to move the smooth blue drinking cup toward the round coaster with light streaks, keeping the smooth blue drinking cup clear of the curved shampoo bottle.",
+    "Use an arm to bring the blue rounded-bottom cup to the flat round wooden coaster, keeping the blue rounded-bottom cup clear of the blue top shampoo bottle.",
+    "Using an arm, pick the cup for holding liquids up, skirt the plastic shampoo bottle, and place the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Use an arm, keep the cup with light blue color from the plastic shampoo with orange label, and lower the cup with light blue color onto the coaster made of smooth wood.",
+    "Lift the blue rounded-bottom cup, arc around the plastic shampoo bottle, and place the blue rounded-bottom cup squarely on the round coaster.",
+    "Secure the blue rounded-bottom cup, move it around the shampoo bottle with curved sides, and place the blue rounded-bottom cup squarely on the grainy texture coaster.",
+    "Pick up the blue rounded-bottom cup, avoid the white and blue shampoo container along the way, and place the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Pick up the medium-sized plastic blue cup, keep its path away from <the plastic shampoo bottle>, and set the medium-sized plastic blue cup on <the coaster made of smooth wood>.",
+    "Use an arm, take the cylindrical light blue cup past the bottle with smooth surface without nearing it, and rest the cylindrical light blue cup on the wooden coaster.",
+    "Take the rounded base blue cup to the round coaster with light streaks while skirting the plastic shampoo bottle, then release the rounded base blue cup on the round coaster with light streaks.",
+    "Pick up the light blue plastic cup, guide it past the bottle with smooth surface, and drop the light blue plastic cup on the flat round wooden coaster.",
+    "With an arm, move the smooth blue cup for liquids past the bottle with smooth surface and place the smooth blue cup for liquids on the wooden coaster.",
+    "Grab the cup with light blue color, guide it away from the shampoo bottle with curved sides, and set the cup with light blue color neatly on the coaster made of smooth wood.",
+    "Use an arm: take the smooth blue drinking cup, avoid the plastic shampoo bottle during the move, and drop it on the light gray round grainy coaster.",
+    "Lift the cup for holding liquids, carry it around the plastic shampoo with orange label, and place the cup for holding liquids squarely on the wooden coaster.",
+    "Use an arm, pick the cylindrical light blue cup up, pass around the white shampoo bottle, then place the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Move the blue rounded-bottom cup onto the flat surface gray wooden coaster while avoiding the curved shampoo bottle, then let go of the blue rounded-bottom cup.",
+    "Using an arm, carry the cup with light blue color past <the handheld shampoo container> and place the cup with light blue color squarely on <the smooth round palm-sized coaster>.",
+    "Lift the cylindrical light blue cup, keep clear of the bottle with smooth surface, and put the cylindrical light blue cup down on the round coaster with light streaks.",
+    "Use the arm to carry the plastic cup for drinks around the medium-sized white plastic shampoo, then rest the plastic cup for drinks on the grainy texture coaster.",
+    "Slide the plastic cup for drinks over to <the coaster made of smooth wood> without passing near <the white shampoo bottle>.",
+    "Pick up the cup for holding liquids, keep clear of <the white and blue shampoo container>, and drop the cup for holding liquids onto <the smooth round palm-sized coaster>.",
+    "Guide the medium blue cylindrical cup with the arm around <the blue top shampoo bottle> and onto <the flat surface gray wooden coaster>.",
+    "Lift the medium-sized plastic blue cup, go around the bottle with hexagonal blue cap, and position the medium-sized plastic blue cup squarely on the light gray round grainy coaster.",
+    "Move the cup for holding liquids toward the flat round wooden coaster without passing near the white shampoo bottle, then set it down.",
+    "Lift the cup for holding liquids, guide it past the white and blue shampoo container, and rest the cup for holding liquids on the round coaster.",
+    "Arm-lift the cup with light blue color, swing around <the plastic shampoo with orange label>, then place the cup with light blue color onto <the light gray round grainy coaster>.",
+    "Lift the smooth blue drinking cup, guide it around <the plastic shampoo bottle>, then put the smooth blue drinking cup onto <the round coaster with light streaks>.",
+    "Use the arm to lift the cup with smooth plastic surface, pass the blue top shampoo bottle, and place the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Take the cup for holding liquids, arc around <the shampoo bottle with curved sides>, and place the cup for holding liquids neatly on <the smooth round palm-sized coaster>.",
+    "Pick the cup with light blue color up, route it away from the bottle with hexagonal blue cap, and drop the cup with light blue color onto the smooth round palm-sized coaster.",
+    "With an arm, lift the blue rounded-bottom cup, avoid <the shampoo bottle with blue cap> on the way, and drop the blue rounded-bottom cup on <the flat surface gray wooden coaster>.",
+    "Grab the cup with light blue color, route around the plastic shampoo bottle, then lower the cup with light blue color onto the small coaster with grain texture.",
+    "Carry the plastic cup for drinks toward the light gray streaked wooden coaster, keeping the plastic cup for drinks away from the bottle with hexagonal blue cap, then set down.",
+    "With an arm, take the medium-sized plastic blue cup, avoid the white and blue shampoo container, and put the medium-sized plastic blue cup on the round coaster.",
+    "Use the arm to move the cup with light blue color past <the bottle with smooth surface> and rest it on <the round coaster with light streaks>.",
+    "Carry the smooth blue cup for liquids toward <the round coaster>, skirting <the white shampoo bottle>, and set the smooth blue cup for liquids down.",
+    "Move the cup with smooth plastic surface onto the coaster with circular shape while avoiding the bottle with smooth surface, then let go of the cup with smooth plastic surface.",
+    "Take the smooth blue drinking cup in the arm, route around <the handheld shampoo container>, and set it on <the flat surface gray wooden coaster>.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the curved shampoo bottle, and set the cup with smooth plastic surface onto the round coaster.",
+    "Move the rounded base blue cup to <the wooden coaster> while keeping its path away from <the handheld shampoo container>.",
+    "With an arm, lift the light blue plastic cup, guide it past the blue top shampoo bottle, and put the light blue plastic cup on the wooden coaster.",
+    "Using an arm, grasp the medium-sized plastic blue cup, skirt the bottle with hexagonal blue cap, and place the medium-sized plastic blue cup atop the round coaster.",
+    "Use an arm to grab the cup with smooth plastic surface, avoid the handheld shampoo container, and set the cup with smooth plastic surface down on the round coaster.",
+    "With an arm, pick the cup with smooth plastic surface up, bypass <the white shampoo bottle>, then place the cup with smooth plastic surface on <the round coaster with light streaks>.",
+    "With an arm, bring the medium-sized plastic blue cup over to <the grainy texture coaster> and keep clear of <the white and blue shampoo container>.",
+    "Use an arm to lift the light blue plastic cup, keep distance from <the white and blue shampoo container>, and set the light blue plastic cup on <the smooth round palm-sized coaster>.",
+    "Take the cup for holding liquids, swing wide of the shampoo bottle with blue cap, then rest the cup for holding liquids on the coaster made of smooth wood.",
+    "Use an arm: grab the cylindrical light blue cup, avoid the white and blue shampoo container on the way, then set the cylindrical light blue cup on the coaster with circular shape.",
+    "Carry the cup for holding liquids toward <the light gray streaked wooden coaster>, keeping the path clear of <the plastic shampoo bottle>, then set down.",
+    "Use an arm, take the cylindrical light blue cup, avoid <the bottle with hexagonal blue cap> on the way, and set on <the grainy texture coaster>.",
+    "Use an arm to move the blue rounded-bottom cup around the shampoo bottle with curved sides and rest the blue rounded-bottom cup on the coaster with circular shape.",
+    "With an arm, lift the smooth blue drinking cup, avoid the white and blue shampoo container, and place the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "Using an arm, move the light blue plastic cup to <the grainy texture coaster> while avoiding <the shampoo bottle with blue cap>, then release the light blue plastic cup.",
+    "Move the cup with smooth plastic surface onto <the small coaster with grain texture> and ensure the path stays away from <the curved shampoo bottle>.",
+    "Pick up the cup for holding liquids, route it away from the plastic shampoo with orange label, then set the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Use an arm: grasp the cylindrical light blue cup, avoid <the plastic shampoo bottle>, and place the cylindrical light blue cup on <the small coaster with grain texture>.",
+    "Lift the cup with smooth plastic surface, steer away from <the medium-sized white plastic shampoo>, then place the cup with smooth plastic surface on <the coaster with circular shape>.",
+    "Using an arm, pick the cup with light blue color up, skirt the handheld shampoo container, and place the cup with light blue color on the small coaster with grain texture.",
+    "Secure the cup with smooth plastic surface, keep its path away from the shampoo bottle with blue cap, and set the cup with smooth plastic surface on the grainy texture coaster.",
+    "With an arm, lift the cup with light blue color, route past <the curved shampoo bottle>, and drop the cup with light blue color onto <the coaster made of smooth wood>.",
+    "Grab the medium-sized plastic blue cup, swing it away from <the bottle with hexagonal blue cap>, and place the medium-sized plastic blue cup on <the round coaster with light streaks>.",
+    "Use an arm to lift the cup with smooth plastic surface, arc around the white and blue shampoo container, and place the cup with smooth plastic surface atop the coaster with circular shape.",
+    "Move the plastic cup for drinks to <the small coaster with grain texture> while keeping the plastic cup for drinks away from <the white and blue shampoo container>, then release.",
+    "With an arm, lift the rounded base blue cup, keep it away from the blue top shampoo bottle, and drop it onto the round coaster with light streaks.",
+    "Slide the medium blue cylindrical cup toward the round coaster with light streaks, detouring around the white and blue shampoo container, then set the medium blue cylindrical cup down.",
+    "Move the cup with smooth plastic surface to the light gray round grainy coaster without crossing the shampoo bottle with blue cap, then release the cup with smooth plastic surface.",
+    "Lift the cup for holding liquids, route it away from the medium-sized white plastic shampoo, then put the cup for holding liquids squarely on the flat surface gray wooden coaster.",
+    "Lift the cup with smooth plastic surface, pass beside <the bottle with smooth surface> without contact, then place the cup with smooth plastic surface onto <the light gray streaked wooden coaster>.",
+    "Carry the medium-sized plastic blue cup toward <the coaster made of smooth wood>, keeping clear of <the medium-sized white plastic shampoo>, and set the medium-sized plastic blue cup down.",
+    "Using an arm, carry the light blue plastic cup around the white shampoo bottle and place the light blue plastic cup onto the light gray round grainy coaster.",
+    "Take the cup for holding liquids, guide it away from <the plastic shampoo bottle>, and place the cup for holding liquids squarely on <the round coaster with light streaks>.",
+    "Lift the blue rounded-bottom cup, pass by the handheld shampoo container without contact, then place the blue rounded-bottom cup on the grainy texture coaster.",
+    "Take the smooth blue cup for liquids, route it away from the bottle with smooth surface, and set the smooth blue cup for liquids onto the coaster with circular shape.",
+    "Use an arm: pick the blue rounded-bottom cup up, skirt <the bottle with smooth surface>, then place the blue rounded-bottom cup onto <the round coaster>.",
+    "Move the plastic cup for drinks to the wooden coaster while avoiding the bottle with smooth surface, then place the plastic cup for drinks on the wooden coaster."
+  ],
+  "unseen": [
+    "Pick up the blue cup, keep clear of the white shampoo with orange design, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the white shampoo with orange design>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container in white and blue>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the blue-capped shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the white shampoo with orange design, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the blue-capped shampoo bottle, and place it on the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the white shampoo with orange design>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the white shampoo with orange design, then set the small smooth cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the white shampoo with orange design>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white shampoo with orange design>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container in white and blue>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container in white and blue, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the white shampoo with orange design, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container in white and blue>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container in white and blue>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the shampoo container in white and blue, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the white shampoo with orange design, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container in white and blue, and place it on the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the blue-capped shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the shampoo container in white and blue, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the white shampoo with orange design>, then set the blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white shampoo with orange design>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the blue-capped shampoo bottle>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the blue-capped shampoo bottle, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep clear of the blue-capped shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the blue-capped shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container in white and blue>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the white shampoo with orange design, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the blue-capped shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white shampoo with orange design, and place it on the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo container in white and blue>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the blue-capped shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container in white and blue>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white shampoo with orange design>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the shampoo container in white and blue>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container in white and blue, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the white shampoo with orange design, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container in white and blue>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, guide it around <the shampoo container in white and blue>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the blue-capped shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the white shampoo with orange design, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the blue-capped shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the white shampoo with orange design>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, steer it around the blue-capped shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the blue-capped shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the white shampoo with orange design>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the blue-capped shampoo bottle, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the white shampoo with orange design, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the blue-capped shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the white shampoo with orange design>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the white shampoo with orange design, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the blue-capped shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container in white and blue, and place it on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo container in white and blue, then set the handheld round blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the blue-capped shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the white shampoo with orange design>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the white shampoo with orange design>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container in white and blue, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the white shampoo with orange design, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container in white and blue>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the white shampoo with orange design>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo container in white and blue, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the blue-capped shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the blue-capped shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the white shampoo with orange design, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container in white and blue>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white shampoo with orange design>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container in white and blue>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container in white and blue, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the white shampoo with orange design, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the blue-capped shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo container in white and blue, then set the handheld round blue cup down on the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode29.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcba2d877f1b52b56ef48f971611885ef8b46fc7
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using an arm, move the cup with light blue color to <the smooth round palm-sized coaster> while avoiding <the rectangular pink shampoo container>, then release the cup with light blue color.",
+    "Grab the cup with smooth plastic surface, route around the smooth pink plastic shampoo bottle, then lower the cup with smooth plastic surface onto the grainy texture coaster.",
+    "Pick the medium blue cylindrical cup up, route it away from the pink shampoo bottle, and drop the medium blue cylindrical cup onto the coaster with circular shape.",
+    "With an arm, lift the smooth blue drinking cup, avoid <the pink bottle with narrow top> on the way, and drop the smooth blue drinking cup on <the wooden coaster>.",
+    "Using an arm, carry the cup with light blue color past <the medium pink bottle for shampoo> and place the cup with light blue color squarely on <the smooth round palm-sized coaster>.",
+    "Pick up the cup with smooth plastic surface, keep clear of <the rectangular pink shampoo container>, and drop the cup with smooth plastic surface onto <the round coaster>.",
+    "Move the cup with smooth plastic surface onto the smooth round palm-sized coaster while avoiding the pink bottle with black dispenser, then let go of the cup with smooth plastic surface.",
+    "Lift the smooth blue cup for liquids, steer away from <the pink shampoo bottle>, then place the smooth blue cup for liquids on <the wooden coaster>.",
+    "Move the medium-sized plastic blue cup to <the wooden coaster> while keeping its path away from <the hand-sized pink shampoo container>.",
+    "Use an arm: pick the light blue plastic cup up, skirt <the hand-sized pink shampoo container>, then place the light blue plastic cup onto <the round coaster with light streaks>.",
+    "Lift the cylindrical light blue cup, pass by the plastic shampoo bottle with black pump without contact, then place the cylindrical light blue cup on the flat surface gray wooden coaster.",
+    "With an arm, lift the smooth blue cup for liquids, route past <the rectangular pink bottle with dispenser>, and drop the smooth blue cup for liquids onto <the coaster with circular shape>.",
+    "Take the plastic cup for drinks, swing wide of the pink shampoo container with pump top, then rest the plastic cup for drinks on the grainy texture coaster.",
+    "Move the light blue plastic cup onto <the coaster with circular shape> and ensure the path stays away from <the hand-sized pink shampoo container>.",
+    "Use an arm: grab the cup with light blue color, avoid the smooth pink plastic shampoo bottle on the way, then set the cup with light blue color on the flat surface gray wooden coaster.",
+    "With an arm, move the medium blue cylindrical cup past the rectangular pink shampoo container and place the medium blue cylindrical cup on the coaster made of smooth wood.",
+    "Use an arm: grasp the cup with smooth plastic surface, avoid <the medium pink bottle for shampoo>, and place the cup with smooth plastic surface on <the round coaster with light streaks>.",
+    "Take the light blue plastic cup, keep its path away from the shampoo bottle with rectangular shape, and drop the light blue plastic cup on the smooth round palm-sized coaster.",
+    "Use an arm, take the blue rounded-bottom cup past the shampoo bottle with rectangular shape without nearing it, and rest the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Using an arm, pick the cup with smooth plastic surface up, skirt the pink shampoo container with pump top, and place the cup with smooth plastic surface on the round coaster.",
+    "Use an arm, take the smooth blue drinking cup, avoid <the rectangular pink shampoo container> on the way, and set on <the light gray round grainy coaster>.",
+    "Arm-lift the medium blue cylindrical cup, swing around <the shampoo bottle with rectangular shape>, then place the medium blue cylindrical cup onto <the grainy texture coaster>.",
+    "Lift the light blue plastic cup, guide it past the shampoo bottle with shiny pink body, and rest the light blue plastic cup on the smooth round palm-sized coaster.",
+    "Move the medium-sized plastic blue cup toward the coaster made of smooth wood without passing near the shampoo bottle with shiny pink body, then set it down.",
+    "Use an arm, keep the cylindrical light blue cup from the shampoo bottle with rectangular shape, and lower the cylindrical light blue cup onto the light gray streaked wooden coaster.",
+    "Lift the light blue plastic cup, guide it around <the hand-sized pink shampoo container>, then put the light blue plastic cup onto <the grainy texture coaster>.",
+    "Lift the plastic cup for drinks, pass beside <the pink shampoo bottle> without contact, then place the plastic cup for drinks onto <the coaster made of smooth wood>.",
+    "With an arm, bring the smooth blue drinking cup over to <the light gray round grainy coaster> and keep clear of <the medium pink bottle for shampoo>.",
+    "Use an arm to lift the blue rounded-bottom cup, arc around the shampoo bottle with rectangular shape, and place the blue rounded-bottom cup atop the small coaster with grain texture.",
+    "Move the medium-sized plastic blue cup to the round coaster with light streaks while avoiding the pink bottle with narrow top, then place the medium-sized plastic blue cup on the round coaster with light streaks.",
+    "Slide the cup with light blue color over to <the smooth round palm-sized coaster> without passing near <the pink bottle with narrow top>.",
+    "Secure the plastic cup for drinks, keep its path away from the plastic shampoo bottle with black pump, and set the plastic cup for drinks on the coaster made of smooth wood.",
+    "Use the arm to carry the cup with smooth plastic surface around the shampoo bottle with shiny pink body, then rest the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Pick up the medium blue cylindrical cup, route it away from the pink shampoo container with pump top, then set the medium blue cylindrical cup on the coaster made of smooth wood.",
+    "Use an arm to grab the cup with light blue color, avoid the rectangular pink shampoo container, and set the cup with light blue color down on the coaster with circular shape.",
+    "Carry the cup with light blue color toward the flat round wooden coaster, keeping the cup with light blue color away from the rectangular pink bottle with dispenser, then set down.",
+    "Use an arm to lift the medium blue cylindrical cup, keep distance from <the shampoo bottle with rectangular shape>, and set the medium blue cylindrical cup on <the smooth round palm-sized coaster>.",
+    "Lift the plastic cup for drinks, arc around the rectangular pink bottle with dispenser, and place the plastic cup for drinks squarely on the light gray streaked wooden coaster.",
+    "Pick up the medium-sized plastic blue cup, avoid the pink bottle with narrow top along the way, and place the medium-sized plastic blue cup on the coaster with circular shape.",
+    "Carry the plastic cup for drinks toward <the wooden coaster>, keeping clear of <the shampoo bottle with rectangular shape>, and set the plastic cup for drinks down.",
+    "Grab the medium blue cylindrical cup, guide it away from the pink shampoo container with pump top, and set the medium blue cylindrical cup neatly on the round coaster.",
+    "Guide the light blue plastic cup with the arm around <the smooth pink plastic shampoo bottle> and onto <the light gray streaked wooden coaster>.",
+    "Lift the smooth blue cup for liquids, keep clear of the shampoo bottle with rectangular shape, and put the smooth blue cup for liquids down on the flat round wooden coaster.",
+    "Lift the smooth blue drinking cup, carry it around the rectangular pink shampoo container, and place the smooth blue drinking cup squarely on the coaster made of smooth wood.",
+    "Lift the cup with light blue color, go around the hand-sized pink shampoo container, and position the cup with light blue color squarely on the wooden coaster.",
+    "Use an arm to bring the medium blue cylindrical cup to the flat surface gray wooden coaster, keeping the medium blue cylindrical cup clear of the hand-sized pink shampoo container.",
+    "Pick up the smooth blue drinking cup, guide it past the plastic shampoo bottle with black pump, and drop the smooth blue drinking cup on the wooden coaster.",
+    "Move the cup with light blue color to <the flat surface gray wooden coaster> while keeping the cup with light blue color away from <the medium pink bottle for shampoo>, then release.",
+    "Use an arm, pick the medium-sized plastic blue cup up, pass around the hand-sized pink shampoo container, then place the medium-sized plastic blue cup on the light gray round grainy coaster.",
+    "Using an arm, grasp the cup for holding liquids, skirt the pink bottle with narrow top, and place the cup for holding liquids atop the smooth round palm-sized coaster.",
+    "Use an arm: take the smooth blue cup for liquids, avoid the rectangular pink shampoo container during the move, and drop it on the smooth round palm-sized coaster.",
+    "Use an arm to move the cup for holding liquids toward the flat round wooden coaster, keeping the cup for holding liquids clear of the rectangular pink bottle with dispenser.",
+    "With an arm, lift the cup with light blue color, avoid the shampoo bottle with shiny pink body, and set the cup with light blue color onto the wooden coaster.",
+    "Using an arm, carry the light blue plastic cup around the medium pink bottle for shampoo and place the light blue plastic cup onto the flat surface gray wooden coaster.",
+    "With an arm, lift the smooth blue cup for liquids, keep it away from the shampoo bottle with shiny pink body, and drop it onto the flat round wooden coaster.",
+    "With an arm, lift the cup with smooth plastic surface, guide it past the shampoo bottle with rectangular shape, and put the cup with smooth plastic surface on the wooden coaster.",
+    "Carry the blue rounded-bottom cup toward <the coaster made of smooth wood>, keeping the path clear of <the rectangular pink shampoo container>, then set down.",
+    "Take the smooth blue drinking cup, keep its path away from the rectangular pink shampoo container, and place the smooth blue drinking cup on the round coaster with light streaks.",
+    "Secure the cup with smooth plastic surface, move it around the shampoo bottle with rectangular shape, and place the cup with smooth plastic surface squarely on the small coaster with grain texture.",
+    "With an arm, lift the smooth blue cup for liquids, avoid the shampoo bottle with shiny pink body, and place the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Lift the plastic cup for drinks, route it away from the shampoo bottle with shiny pink body, then put the plastic cup for drinks squarely on the smooth round palm-sized coaster.",
+    "Pick up the rounded base blue cup, keep its path away from <the rectangular pink shampoo container>, and set the rounded base blue cup on <the round coaster with light streaks>.",
+    "Use an arm to move the cylindrical light blue cup around the shampoo bottle with shiny pink body and rest the cylindrical light blue cup on the flat surface gray wooden coaster.",
+    "Use an arm to take the blue rounded-bottom cup around <the plastic shampoo bottle with black pump> and place the blue rounded-bottom cup on <the light gray streaked wooden coaster>.",
+    "Take the cup with smooth plastic surface, arc around <the pink bottle with black dispenser>, and place the cup with smooth plastic surface neatly on <the wooden coaster>.",
+    "Use the arm to move the cup for holding liquids past <the rectangular pink shampoo container> and rest it on <the flat surface gray wooden coaster>.",
+    "Move the smooth blue drinking cup to the small coaster with grain texture without crossing the hand-sized pink shampoo container, then release the smooth blue drinking cup.",
+    "Take the rounded base blue cup, guide it away from <the hand-sized pink shampoo container>, and place the rounded base blue cup squarely on <the round coaster with light streaks>.",
+    "Use an arm to move the medium blue cylindrical cup to the smooth round palm-sized coaster, keeping the medium blue cylindrical cup from bumping the pink bottle with black dispenser.",
+    "Take the cup with light blue color in the arm, route around <the shampoo bottle with rectangular shape>, and set it on <the grainy texture coaster>.",
+    "With an arm, pick the plastic cup for drinks up, bypass <the shampoo bottle with rectangular shape>, then place the plastic cup for drinks on <the smooth round palm-sized coaster>.",
+    "With an arm, take the cylindrical light blue cup, avoid the shampoo bottle with rectangular shape, and put the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Move the cylindrical light blue cup onto the round coaster with light streaks while avoiding the medium pink bottle for shampoo, then let go of the cylindrical light blue cup.",
+    "Take the smooth blue drinking cup to the wooden coaster while skirting the rectangular pink bottle with dispenser, then release the smooth blue drinking cup on the wooden coaster.",
+    "Carry the cup for holding liquids toward <the round coaster with light streaks>, skirting <the shampoo bottle with rectangular shape>, and set the cup for holding liquids down.",
+    "Grab the blue rounded-bottom cup, swing it away from <the shampoo bottle with shiny pink body>, and place the blue rounded-bottom cup on <the round coaster>.",
+    "Slide the cup with smooth plastic surface toward the round coaster with light streaks, detouring around the hand-sized pink shampoo container, then set the cup with smooth plastic surface down.",
+    "Use the arm to lift the cup with smooth plastic surface, pass the shampoo bottle with rectangular shape, and place the cup with smooth plastic surface on the light gray streaked wooden coaster.",
+    "Using an arm, pick the plastic cup for drinks up, skirt the shampoo bottle with shiny pink body, and place the plastic cup for drinks on the smooth round palm-sized coaster.",
+    "Take the cup with smooth plastic surface, route it away from the shampoo bottle with rectangular shape, and set the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Using an arm, move the rounded base blue cup to <the round coaster with light streaks> while avoiding <the rectangular pink bottle with dispenser>, then release the rounded base blue cup.",
+    "Grab the cup with light blue color, route around the rectangular pink bottle with dispenser, then lower the cup with light blue color onto the light gray streaked wooden coaster.",
+    "Pick the blue rounded-bottom cup up, route it away from the pink shampoo container with pump top, and drop the blue rounded-bottom cup onto the wooden coaster.",
+    "With an arm, lift the cylindrical light blue cup, avoid <the smooth pink plastic shampoo bottle> on the way, and drop the cylindrical light blue cup on <the light gray round grainy coaster>.",
+    "Using an arm, carry the smooth blue cup for liquids past <the pink shampoo container with pump top> and place the smooth blue cup for liquids squarely on <the flat round wooden coaster>.",
+    "Pick up the rounded base blue cup, keep clear of <the rectangular pink shampoo container>, and drop the rounded base blue cup onto <the grainy texture coaster>.",
+    "Move the cylindrical light blue cup onto the grainy texture coaster while avoiding the plastic shampoo bottle with black pump, then let go of the cylindrical light blue cup.",
+    "Lift the cylindrical light blue cup, steer away from <the hand-sized pink shampoo container>, then place the cylindrical light blue cup on <the light gray streaked wooden coaster>.",
+    "Move the cup with smooth plastic surface to <the flat round wooden coaster> while keeping its path away from <the pink bottle with black dispenser>.",
+    "Use an arm: pick the rounded base blue cup up, skirt <the pink bottle with black dispenser>, then place the rounded base blue cup onto <the smooth round palm-sized coaster>.",
+    "Lift the cup with smooth plastic surface, pass by the medium pink bottle for shampoo without contact, then place the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "With an arm, lift the cup with light blue color, route past <the plastic shampoo bottle with black pump>, and drop the cup with light blue color onto <the coaster made of smooth wood>.",
+    "Take the rounded base blue cup, swing wide of the plastic shampoo bottle with black pump, then rest the rounded base blue cup on the flat round wooden coaster.",
+    "Move the medium-sized plastic blue cup onto <the coaster made of smooth wood> and ensure the path stays away from <the plastic shampoo bottle with black pump>.",
+    "Use an arm: grab the cup for holding liquids, avoid the smooth pink plastic shampoo bottle on the way, then set the cup for holding liquids on the coaster made of smooth wood.",
+    "With an arm, move the smooth blue drinking cup past the rectangular pink bottle with dispenser and place the smooth blue drinking cup on the round coaster with light streaks.",
+    "Use an arm: grasp the cup with smooth plastic surface, avoid <the rectangular pink shampoo container>, and place the cup with smooth plastic surface on <the coaster with circular shape>.",
+    "Take the medium blue cylindrical cup, keep its path away from the rectangular pink bottle with dispenser, and drop the medium blue cylindrical cup on the flat round wooden coaster.",
+    "Use an arm, take the blue rounded-bottom cup past the medium pink bottle for shampoo without nearing it, and rest the blue rounded-bottom cup on the coaster with circular shape.",
+    "Using an arm, pick the smooth blue cup for liquids up, skirt the smooth pink plastic shampoo bottle, and place the smooth blue cup for liquids on the flat surface gray wooden coaster."
+  ],
+  "unseen": [
+    "Use an arm to pick up the blue cup, avoid the plastic pink shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the shampoo bottle with black pump>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the plastic pink shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with black pump, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep clear of the plastic pink shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the glossy pink shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the glossy pink shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with black pump, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the glossy pink shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the plastic pink shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the glossy pink shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with black pump, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the glossy pink shampoo bottle, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with black pump>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the blue cup, avoid <the glossy pink shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the glossy pink shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the plastic pink shampoo bottle, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the glossy pink shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the plastic pink shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the glossy pink shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the glossy pink shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the glossy pink shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the plastic pink shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with black pump, then place the small smooth cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the glossy pink shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the plastic pink shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the glossy pink shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the glossy pink shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with black pump, then set the handheld round blue cup onto the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the glossy pink shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with black pump>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, guide it around <the plastic pink shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with black pump, and place the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with black pump>, then place the small smooth cup onto <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the glossy pink shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with black pump, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the glossy pink shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the plastic pink shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the plastic pink shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the glossy pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the plastic pink shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the glossy pink shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the plastic pink shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the glossy pink shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with black pump>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, avoid the glossy pink shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the plastic pink shampoo bottle>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the glossy pink shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the glossy pink shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Pick up the blue cup, keep clear of the glossy pink shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the glossy pink shampoo bottle>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with black pump, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the glossy pink shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the glossy pink shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with black pump, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle with black pump, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the plastic pink shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the glossy pink shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the glossy pink shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with black pump, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the glossy pink shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with black pump, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with black pump, then place the small smooth cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo bottle with black pump>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the glossy pink shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with black pump, then place the blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with black pump>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the plastic pink shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the plastic pink shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the plastic pink shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the glossy pink shampoo bottle, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the glossy pink shampoo bottle>, and set the small smooth cup on <the light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the glossy pink shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, guide it around <the glossy pink shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, avoid the plastic pink shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with black pump>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the glossy pink shampoo bottle, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the glossy pink shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with black pump>, and place the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the glossy pink shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with black pump>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle with black pump, and set it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the plastic pink shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with black pump, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the glossy pink shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the glossy pink shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with black pump>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with black pump>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the glossy pink shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the glossy pink shampoo bottle>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the plastic pink shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode3.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c421097684f9f58114910e282e4f1f0cb07d36f
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm to lift the light blue plastic cup, arc around the curved light blue shampoo bottle, and place the light blue plastic cup atop the round coaster with light streaks.",
+    "Carry the cup with light blue color toward <the small coaster with grain texture>, keeping clear of <the shampoo bottle with white cap>, and set the cup with light blue color down.",
+    "With an arm, move the medium-sized plastic blue cup past the light blue shampoo bottle small size and place the medium-sized plastic blue cup on the wooden coaster.",
+    "Lift the cup for holding liquids, route it away from the blue shampoo bottle slender design, then put the cup for holding liquids squarely on the light gray round grainy coaster.",
+    "Take the medium blue cylindrical cup, keep its path away from the light blue shampoo bottle small size, and place the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Grab the cup with smooth plastic surface, swing it away from <the shampoo bottle flat bottom edge>, and place the cup with smooth plastic surface on <the coaster made of smooth wood>.",
+    "Take the rounded base blue cup, route it away from the light blue shampoo bottle small size, and set the rounded base blue cup onto the light gray round grainy coaster.",
+    "Move the cylindrical light blue cup onto the small coaster with grain texture while avoiding the shampoo bottle with matte plastic, then let go of the cylindrical light blue cup.",
+    "Using an arm, grasp the medium-sized plastic blue cup, skirt the blue shampoo bottle, and place the medium-sized plastic blue cup atop the small coaster with grain texture.",
+    "Use the arm to lift the medium blue cylindrical cup, pass the shampoo bottle flat bottom edge, and place the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Using an arm, pick the cup with smooth plastic surface up, skirt the blue shampoo bottle, and place the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Lift the blue rounded-bottom cup, arc around the shampoo bottle with white cap, and place the blue rounded-bottom cup squarely on the round coaster with light streaks.",
+    "Lift the cup with smooth plastic surface, guide it around <the shampoo bottle tapered toward cap>, then put the cup with smooth plastic surface onto <the round coaster>.",
+    "Move the cup with light blue color to the light gray streaked wooden coaster without crossing the curved light blue shampoo bottle, then release the cup with light blue color.",
+    "Pick up the medium blue cylindrical cup, keep clear of <the shampoo bottle with white cap>, and drop the medium blue cylindrical cup onto <the grainy texture coaster>.",
+    "Pick the cup for holding liquids up, route it away from the bottle of shampoo, and drop the cup for holding liquids onto the coaster with circular shape.",
+    "With an arm, lift the medium-sized plastic blue cup, keep it away from the hand-sized shampoo bottle, and drop it onto the round coaster.",
+    "Take the cylindrical light blue cup, guide it away from <the shampoo bottle tapered toward cap>, and place the cylindrical light blue cup squarely on <the light gray round grainy coaster>.",
+    "Using an arm, move the medium blue cylindrical cup to <the flat round wooden coaster> while avoiding <the bottle light blue rounded shape>, then release the medium blue cylindrical cup.",
+    "Use an arm: take the cup for holding liquids, avoid the bottle light blue rounded shape during the move, and drop it on the round coaster.",
+    "Lift the medium-sized plastic blue cup, guide it past the blue shampoo bottle slender design, and rest the medium-sized plastic blue cup on the small coaster with grain texture.",
+    "Move the medium-sized plastic blue cup to the smooth round palm-sized coaster while avoiding the shampoo bottle with matte plastic, then place the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "With an arm, lift the cylindrical light blue cup, avoid <the bottle light blue rounded shape> on the way, and drop the cylindrical light blue cup on <the flat surface gray wooden coaster>.",
+    "Lift the rounded base blue cup, carry it around the hand-sized shampoo bottle, and place the rounded base blue cup squarely on the coaster with circular shape.",
+    "Slide the smooth blue drinking cup over to <the wooden coaster> without passing near <the curved light blue shampoo bottle>.",
+    "Use an arm to take the rounded base blue cup around <the light blue shampoo bottle small size> and place the rounded base blue cup on <the coaster with circular shape>.",
+    "With an arm, lift the smooth blue cup for liquids, guide it past the bottle of shampoo, and put the smooth blue cup for liquids on the coaster with circular shape.",
+    "Take the medium blue cylindrical cup, arc around <the shampoo bottle tapered toward cap>, and place the medium blue cylindrical cup neatly on <the light gray streaked wooden coaster>.",
+    "With an arm, pick the medium blue cylindrical cup up, bypass <the blue shampoo bottle slender design>, then place the medium blue cylindrical cup on <the light gray streaked wooden coaster>.",
+    "Move the plastic cup for drinks to <the wooden coaster> while keeping its path away from <the curved light blue shampoo bottle>.",
+    "Use an arm to move the rounded base blue cup toward the smooth round palm-sized coaster, keeping the rounded base blue cup clear of the shampoo bottle with matte plastic.",
+    "Move the blue rounded-bottom cup onto <the small coaster with grain texture> and ensure the path stays away from <the bottle of shampoo>.",
+    "Secure the smooth blue cup for liquids, keep its path away from the small smooth shampoo bottle, and set the smooth blue cup for liquids on the light gray round grainy coaster.",
+    "Slide the cup with smooth plastic surface toward the coaster with circular shape, detouring around the shampoo bottle with white cap, then set the cup with smooth plastic surface down.",
+    "Take the medium blue cylindrical cup, swing wide of the shampoo bottle with white cap, then rest the medium blue cylindrical cup on the grainy texture coaster.",
+    "Take the cup with smooth plastic surface in the arm, route around <the shampoo bottle flat bottom edge>, and set it on <the flat round wooden coaster>.",
+    "Using an arm, pick the smooth blue cup for liquids up, skirt the small smooth shampoo bottle, and place the smooth blue cup for liquids on the grainy texture coaster.",
+    "Move the cup with light blue color onto the smooth round palm-sized coaster while avoiding the bottle light blue rounded shape, then let go of the cup with light blue color.",
+    "With an arm, bring the cup with smooth plastic surface over to <the light gray round grainy coaster> and keep clear of <the blue shampoo bottle slender design>.",
+    "Use the arm to carry the rounded base blue cup around the shampoo bottle tapered toward cap, then rest the rounded base blue cup on the round coaster.",
+    "Use an arm, keep the light blue plastic cup from the light blue shampoo bottle small size, and lower the light blue plastic cup onto the small coaster with grain texture.",
+    "Use an arm, take the cup with smooth plastic surface past the shampoo bottle with matte plastic without nearing it, and rest the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Use the arm to move the smooth blue cup for liquids past <the shampoo bottle tapered toward cap> and rest it on <the coaster made of smooth wood>.",
+    "Pick up the cylindrical light blue cup, guide it past the small smooth shampoo bottle, and drop the cylindrical light blue cup on the small coaster with grain texture.",
+    "Grab the light blue plastic cup, route around the shampoo bottle with white cap, then lower the light blue plastic cup onto the wooden coaster.",
+    "Pick up the plastic cup for drinks, keep its path away from <the blue shampoo bottle>, and set the plastic cup for drinks on <the flat round wooden coaster>.",
+    "Carry the medium blue cylindrical cup toward <the coaster made of smooth wood>, skirting <the blue shampoo bottle slender design>, and set the medium blue cylindrical cup down.",
+    "With an arm, lift the cup for holding liquids, avoid the curved light blue shampoo bottle, and place the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Lift the blue rounded-bottom cup, keep clear of the shampoo bottle flat bottom edge, and put the blue rounded-bottom cup down on the coaster made of smooth wood.",
+    "Carry the cup with smooth plastic surface toward the flat round wooden coaster, keeping the cup with smooth plastic surface away from the curved light blue shampoo bottle, then set down.",
+    "Lift the plastic cup for drinks, pass beside <the shampoo bottle with matte plastic> without contact, then place the plastic cup for drinks onto <the coaster with circular shape>.",
+    "With an arm, lift the smooth blue cup for liquids, route past <the bottle light blue rounded shape>, and drop the smooth blue cup for liquids onto <the wooden coaster>.",
+    "Use an arm to grab the rounded base blue cup, avoid the shampoo bottle with matte plastic, and set the rounded base blue cup down on the light gray round grainy coaster.",
+    "Use an arm: pick the plastic cup for drinks up, skirt <the blue shampoo bottle>, then place the plastic cup for drinks onto <the light gray round grainy coaster>.",
+    "Use an arm, pick the blue rounded-bottom cup up, pass around the bottle of shampoo, then place the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Take the plastic cup for drinks to the smooth round palm-sized coaster while skirting the shampoo bottle with white cap, then release the plastic cup for drinks on the smooth round palm-sized coaster.",
+    "Arm-lift the smooth blue cup for liquids, swing around <the light blue shampoo bottle small size>, then place the smooth blue cup for liquids onto <the flat round wooden coaster>.",
+    "Guide the medium-sized plastic blue cup with the arm around <the shampoo bottle flat bottom edge> and onto <the light gray round grainy coaster>.",
+    "Lift the rounded base blue cup, steer away from <the shampoo bottle flat bottom edge>, then place the rounded base blue cup on <the coaster with circular shape>.",
+    "Use an arm to move the light blue plastic cup to the round coaster with light streaks, keeping the light blue plastic cup from bumping the small smooth shampoo bottle.",
+    "Pick up the blue rounded-bottom cup, avoid the light blue shampoo bottle small size along the way, and place the blue rounded-bottom cup on the grainy texture coaster.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the light blue shampoo bottle small size, and set the blue rounded-bottom cup onto the round coaster with light streaks.",
+    "Use an arm, take the cup with smooth plastic surface, avoid <the shampoo bottle with white cap> on the way, and set on <the round coaster>.",
+    "Secure the smooth blue drinking cup, move it around the shampoo bottle tapered toward cap, and place the smooth blue drinking cup squarely on the round coaster.",
+    "Move the cylindrical light blue cup to <the grainy texture coaster> while keeping the cylindrical light blue cup away from <the curved light blue shampoo bottle>, then release.",
+    "Lift the plastic cup for drinks, go around the shampoo bottle flat bottom edge, and position the plastic cup for drinks squarely on the wooden coaster.",
+    "Carry the cup with light blue color toward <the light gray round grainy coaster>, keeping the path clear of <the shampoo bottle with white cap>, then set down.",
+    "Grab the medium blue cylindrical cup, guide it away from the shampoo bottle with matte plastic, and set the medium blue cylindrical cup neatly on the flat round wooden coaster.",
+    "Use an arm to bring the cup with light blue color to the round coaster, keeping the cup with light blue color clear of the bottle of shampoo.",
+    "Use an arm to move the light blue plastic cup around the bottle light blue rounded shape and rest the light blue plastic cup on the small coaster with grain texture.",
+    "Take the cup with smooth plastic surface, keep its path away from the shampoo bottle flat bottom edge, and drop the cup with smooth plastic surface on the grainy texture coaster.",
+    "Use an arm: grasp the cup with smooth plastic surface, avoid <the shampoo bottle flat bottom edge>, and place the cup with smooth plastic surface on <the small coaster with grain texture>.",
+    "Pick up the smooth blue cup for liquids, route it away from the shampoo bottle flat bottom edge, then set the smooth blue cup for liquids on the grainy texture coaster.",
+    "Use an arm to lift the smooth blue cup for liquids, keep distance from <the shampoo bottle tapered toward cap>, and set the smooth blue cup for liquids on <the small coaster with grain texture>.",
+    "With an arm, take the plastic cup for drinks, avoid the bottle light blue rounded shape, and put the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Using an arm, carry the medium-sized plastic blue cup past <the blue shampoo bottle> and place the medium-sized plastic blue cup squarely on <the light gray streaked wooden coaster>.",
+    "Lift the cylindrical light blue cup, pass by the curved light blue shampoo bottle without contact, then place the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Move the rounded base blue cup toward the smooth round palm-sized coaster without passing near the bottle light blue rounded shape, then set it down.",
+    "Use an arm: grab the smooth blue cup for liquids, avoid the blue shampoo bottle on the way, then set the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Using an arm, carry the medium-sized plastic blue cup around the shampoo bottle tapered toward cap and place the medium-sized plastic blue cup onto the light gray round grainy coaster.",
+    "Use an arm to lift the smooth blue cup for liquids, arc around the bottle of shampoo, and place the smooth blue cup for liquids atop the coaster made of smooth wood.",
+    "Carry the medium blue cylindrical cup toward <the small coaster with grain texture>, keeping clear of <the hand-sized shampoo bottle>, and set the medium blue cylindrical cup down.",
+    "With an arm, move the cylindrical light blue cup past the curved light blue shampoo bottle and place the cylindrical light blue cup on the grainy texture coaster.",
+    "Lift the smooth blue drinking cup, route it away from the small smooth shampoo bottle, then put the smooth blue drinking cup squarely on the round coaster.",
+    "Take the cup for holding liquids, keep its path away from the bottle of shampoo, and place the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Grab the medium blue cylindrical cup, swing it away from <the shampoo bottle flat bottom edge>, and place the medium blue cylindrical cup on <the coaster made of smooth wood>.",
+    "Take the cup with light blue color, route it away from the shampoo bottle with white cap, and set the cup with light blue color onto the flat surface gray wooden coaster.",
+    "Move the cup for holding liquids onto the round coaster with light streaks while avoiding the blue shampoo bottle slender design, then let go of the cup for holding liquids.",
+    "Using an arm, grasp the smooth blue cup for liquids, skirt the bottle light blue rounded shape, and place the smooth blue cup for liquids atop the coaster with circular shape.",
+    "Use the arm to lift the smooth blue drinking cup, pass the blue shampoo bottle slender design, and place the smooth blue drinking cup on the flat round wooden coaster.",
+    "Using an arm, pick the cup with smooth plastic surface up, skirt the shampoo bottle tapered toward cap, and place the cup with smooth plastic surface on the light gray streaked wooden coaster.",
+    "Lift the rounded base blue cup, arc around the bottle of shampoo, and place the rounded base blue cup squarely on the light gray streaked wooden coaster.",
+    "Lift the smooth blue drinking cup, guide it around <the shampoo bottle tapered toward cap>, then put the smooth blue drinking cup onto <the wooden coaster>.",
+    "Move the medium-sized plastic blue cup to the flat surface gray wooden coaster without crossing the shampoo bottle flat bottom edge, then release the medium-sized plastic blue cup.",
+    "Pick up the blue rounded-bottom cup, keep clear of <the shampoo bottle flat bottom edge>, and drop the blue rounded-bottom cup onto <the smooth round palm-sized coaster>.",
+    "Pick the rounded base blue cup up, route it away from the curved light blue shampoo bottle, and drop the rounded base blue cup onto the flat surface gray wooden coaster.",
+    "With an arm, lift the plastic cup for drinks, keep it away from the shampoo bottle with white cap, and drop it onto the small coaster with grain texture.",
+    "Take the medium blue cylindrical cup, guide it away from <the blue shampoo bottle>, and place the medium blue cylindrical cup squarely on <the small coaster with grain texture>.",
+    "Using an arm, move the rounded base blue cup to <the coaster with circular shape> while avoiding <the small smooth shampoo bottle>, then release the rounded base blue cup.",
+    "Use an arm: take the medium-sized plastic blue cup, avoid the shampoo bottle tapered toward cap during the move, and drop it on the small coaster with grain texture."
+  ],
+  "unseen": [
+    "Grab the handheld round blue cup, steer it around the oval light blue shampoo container, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container white rounded top>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo container white rounded top, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the oval light blue shampoo container>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the smooth bottle containing shampoo, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container white rounded top, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container white rounded top>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo container white rounded top, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container white rounded top>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo container white rounded top, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container white rounded top, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the oval light blue shampoo container>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the smooth bottle containing shampoo, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the oval light blue shampoo container>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the smooth bottle containing shampoo, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the oval light blue shampoo container, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the smooth bottle containing shampoo, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the smooth bottle containing shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo container white rounded top, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container white rounded top>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the smooth bottle containing shampoo, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container white rounded top>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the oval light blue shampoo container>, then set the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the smooth bottle containing shampoo, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the smooth bottle containing shampoo>, and place the small smooth cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container white rounded top, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the smooth bottle containing shampoo, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the smooth bottle containing shampoo>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo container white rounded top, then set the small smooth cup down on the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container white rounded top>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the oval light blue shampoo container, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the oval light blue shampoo container>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the smooth bottle containing shampoo>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, steer it around the shampoo container white rounded top, then set the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container white rounded top, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the smooth bottle containing shampoo>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the smooth bottle containing shampoo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the shampoo container white rounded top>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the oval light blue shampoo container, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the oval light blue shampoo container, and place the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, guide it around <the smooth bottle containing shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the smooth bottle containing shampoo, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the oval light blue shampoo container>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the oval light blue shampoo container, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container white rounded top>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container white rounded top>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, steer it around the shampoo container white rounded top, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the oval light blue shampoo container>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the smooth bottle containing shampoo, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the smooth bottle containing shampoo, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the oval light blue shampoo container, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo container white rounded top>, and place it on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the smooth bottle containing shampoo, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container white rounded top>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container white rounded top, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the oval light blue shampoo container>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo container white rounded top>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo container white rounded top, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the oval light blue shampoo container>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container white rounded top, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container white rounded top, and place it on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container white rounded top, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo container white rounded top>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the oval light blue shampoo container, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container white rounded top>, and set the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the smooth bottle containing shampoo, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container white rounded top, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo container white rounded top, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container white rounded top>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the smooth bottle containing shampoo, then place the small smooth cup onto the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode30.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..74ed0bfcdda0a14e0a3a2e9a2aa3df0ea04741c0
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm, take the blue rounded-bottom cup, avoid <the medium shampoo bottle with pump> on the way, and set on <the wooden coaster>.",
+    "Pick up the medium blue cylindrical cup, route it away from the plastic shampoo bottle with label, then set the medium blue cylindrical cup on the coaster made of smooth wood.",
+    "Using an arm, grasp the smooth blue drinking cup, skirt the yellow shampoo bottle, and place the smooth blue drinking cup atop the wooden coaster.",
+    "Lift the light blue plastic cup, pass by the yellow shampoo with cartoon design without contact, then place the light blue plastic cup on the smooth round palm-sized coaster.",
+    "Lift the cup with light blue color, go around the shampoo with green dispensing pump, and position the cup with light blue color squarely on the light gray streaked wooden coaster.",
+    "Carry the blue rounded-bottom cup toward <the round coaster>, keeping the path clear of <the plastic shampoo bottle with label>, then set down.",
+    "Use an arm to move the cup with smooth plastic surface around the smooth bottle with green top and rest the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Arm-lift the cup for holding liquids, swing around <the shampoo with green dispensing pump>, then place the cup for holding liquids onto <the light gray round grainy coaster>.",
+    "Take the light blue plastic cup to the light gray streaked wooden coaster while skirting the yellow shampoo with cartoon design, then release the light blue plastic cup on the light gray streaked wooden coaster.",
+    "Guide the smooth blue cup for liquids with the arm around <the yellow container with green pump> and onto <the coaster made of smooth wood>.",
+    "With an arm, pick the blue rounded-bottom cup up, bypass <the smooth bottle with green top>, then place the blue rounded-bottom cup on <the grainy texture coaster>.",
+    "Use an arm to grab the rounded base blue cup, avoid the yellow container with green pump, and set the rounded base blue cup down on the round coaster.",
+    "Use an arm, pick the blue rounded-bottom cup up, pass around the shampoo with green dispensing pump, then place the blue rounded-bottom cup on the smooth round palm-sized coaster.",
+    "Using an arm, carry the plastic cup for drinks around the shampoo bottle with handle slot and place the plastic cup for drinks onto the light gray round grainy coaster.",
+    "Lift the cup with smooth plastic surface, steer away from <the shampoo with green dispensing pump>, then place the cup with smooth plastic surface on <the small coaster with grain texture>.",
+    "Use an arm, keep the light blue plastic cup from the shampoo with green dispensing pump, and lower the light blue plastic cup onto the coaster made of smooth wood.",
+    "Lift the plastic cup for drinks, guide it past the yellow container with green pump, and rest the plastic cup for drinks on the light gray round grainy coaster.",
+    "With an arm, lift the cup with smooth plastic surface, route past <the yellow bottle with green top>, and drop the cup with smooth plastic surface onto <the grainy texture coaster>.",
+    "Lift the cup for holding liquids, keep clear of the hand-sized yellow shampoo bottle, and put the cup for holding liquids down on the light gray streaked wooden coaster.",
+    "Move the rounded base blue cup onto the small coaster with grain texture while avoiding the bottle with cartoon label, then let go of the rounded base blue cup.",
+    "Use an arm: grasp the medium-sized plastic blue cup, avoid <the medium shampoo bottle with pump>, and place the medium-sized plastic blue cup on <the light gray round grainy coaster>.",
+    "Lift the blue rounded-bottom cup, carry it around the smooth bottle with green top, and place the blue rounded-bottom cup squarely on the grainy texture coaster.",
+    "Take the rounded base blue cup, swing wide of the shampoo bottle with handle slot, then rest the rounded base blue cup on the round coaster.",
+    "Secure the smooth blue cup for liquids, keep its path away from the yellow bottle with green top, and set the smooth blue cup for liquids on the grainy texture coaster.",
+    "With an arm, lift the smooth blue drinking cup, avoid <the bottle with cartoon label> on the way, and drop the smooth blue drinking cup on <the wooden coaster>.",
+    "Take the blue rounded-bottom cup, arc around <the bottle with cartoon label>, and place the blue rounded-bottom cup neatly on <the wooden coaster>.",
+    "Move the smooth blue cup for liquids onto <the small coaster with grain texture> and ensure the path stays away from <the yellow shampoo with cartoon design>.",
+    "With an arm, lift the rounded base blue cup, avoid the shampoo bottle with handle slot, and place the rounded base blue cup on the flat round wooden coaster.",
+    "Grab the smooth blue drinking cup, guide it away from the yellow shampoo with cartoon design, and set the smooth blue drinking cup neatly on the round coaster with light streaks.",
+    "Slide the medium-sized plastic blue cup toward the flat surface gray wooden coaster, detouring around the yellow shampoo bottle, then set the medium-sized plastic blue cup down.",
+    "Use an arm to lift the rounded base blue cup, arc around the smooth bottle with green top, and place the rounded base blue cup atop the coaster made of smooth wood.",
+    "Use an arm to move the cup with light blue color toward the coaster with circular shape, keeping the cup with light blue color clear of the smooth bottle with green top.",
+    "Use an arm to bring the medium blue cylindrical cup to the small coaster with grain texture, keeping the medium blue cylindrical cup clear of the shampoo bottle with handle slot.",
+    "Pick up the blue rounded-bottom cup, guide it past the hand-sized yellow shampoo bottle, and drop the blue rounded-bottom cup on the light gray round grainy coaster.",
+    "With an arm, lift the rounded base blue cup, keep it away from the shampoo with green dispensing pump, and drop it onto the smooth round palm-sized coaster.",
+    "With an arm, bring the light blue plastic cup over to <the light gray round grainy coaster> and keep clear of <the shampoo bottle with rounded body>.",
+    "Pick up the blue rounded-bottom cup, avoid the hand-sized yellow shampoo bottle along the way, and place the blue rounded-bottom cup on the grainy texture coaster.",
+    "Lift the smooth blue cup for liquids, pass beside <the smooth bottle with green top> without contact, then place the smooth blue cup for liquids onto <the round coaster>.",
+    "Move the medium-sized plastic blue cup to <the flat round wooden coaster> while keeping its path away from <the shampoo bottle with rounded body>.",
+    "Lift the plastic cup for drinks, arc around the yellow bottle with green top, and place the plastic cup for drinks squarely on the coaster made of smooth wood.",
+    "With an arm, lift the smooth blue drinking cup, avoid the medium shampoo bottle with pump, and set the smooth blue drinking cup onto the coaster with circular shape.",
+    "Use an arm to take the blue rounded-bottom cup around <the smooth bottle with green top> and place the blue rounded-bottom cup on <the light gray streaked wooden coaster>.",
+    "With an arm, lift the smooth blue cup for liquids, guide it past the smooth bottle with green top, and put the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Use an arm: grab the cup with light blue color, avoid the yellow bottle with green top on the way, then set the cup with light blue color on the grainy texture coaster.",
+    "Pick the smooth blue cup for liquids up, route it away from the plastic shampoo bottle with label, and drop the smooth blue cup for liquids onto the round coaster.",
+    "Using an arm, carry the cylindrical light blue cup past <the yellow container with green pump> and place the cylindrical light blue cup squarely on <the round coaster>.",
+    "Move the plastic cup for drinks to <the grainy texture coaster> while keeping the plastic cup for drinks away from <the yellow container with green pump>, then release.",
+    "Use the arm to carry the cup with smooth plastic surface around the smooth bottle with green top, then rest the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Use an arm to lift the smooth blue cup for liquids, keep distance from <the bottle with cartoon label>, and set the smooth blue cup for liquids on <the wooden coaster>.",
+    "Take the medium blue cylindrical cup, guide it away from <the yellow bottle with green top>, and place the medium blue cylindrical cup squarely on <the flat surface gray wooden coaster>.",
+    "Pick up the cylindrical light blue cup, keep clear of <the yellow bottle with green top>, and drop the cylindrical light blue cup onto <the coaster made of smooth wood>.",
+    "Carry the smooth blue cup for liquids toward the light gray round grainy coaster, keeping the smooth blue cup for liquids away from the hand-sized yellow shampoo bottle, then set down.",
+    "Grab the medium-sized plastic blue cup, swing it away from <the shampoo with green dispensing pump>, and place the medium-sized plastic blue cup on <the grainy texture coaster>.",
+    "Using an arm, pick the cup for holding liquids up, skirt the smooth bottle with green top, and place the cup for holding liquids on the light gray round grainy coaster.",
+    "Take the blue rounded-bottom cup in the arm, route around <the plastic shampoo bottle with label>, and set it on <the coaster made of smooth wood>.",
+    "Take the light blue plastic cup, route it away from the plastic shampoo bottle with label, and set the light blue plastic cup onto the round coaster with light streaks.",
+    "Using an arm, pick the medium blue cylindrical cup up, skirt the yellow container with green pump, and place the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Take the cylindrical light blue cup, keep its path away from the medium shampoo bottle with pump, and drop the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Use an arm: take the cylindrical light blue cup, avoid the hand-sized yellow shampoo bottle during the move, and drop it on the wooden coaster.",
+    "Use an arm to move the cup for holding liquids to the grainy texture coaster, keeping the cup for holding liquids from bumping the yellow bottle with green top.",
+    "Carry the plastic cup for drinks toward <the smooth round palm-sized coaster>, skirting <the smooth bottle with green top>, and set the plastic cup for drinks down.",
+    "Move the medium blue cylindrical cup toward the light gray streaked wooden coaster without passing near the bottle with cartoon label, then set it down.",
+    "Lift the cup with smooth plastic surface, route it away from the medium shampoo bottle with pump, then put the cup with smooth plastic surface squarely on the round coaster with light streaks.",
+    "With an arm, move the smooth blue cup for liquids past the yellow shampoo bottle and place the smooth blue cup for liquids on the smooth round palm-sized coaster.",
+    "Use the arm to lift the smooth blue drinking cup, pass the yellow shampoo with cartoon design, and place the smooth blue drinking cup on the light gray round grainy coaster.",
+    "Use an arm, take the cup for holding liquids past the shampoo bottle with rounded body without nearing it, and rest the cup for holding liquids on the light gray round grainy coaster.",
+    "Lift the cylindrical light blue cup, guide it around <the smooth bottle with green top>, then put the cylindrical light blue cup onto <the light gray round grainy coaster>.",
+    "Grab the cup for holding liquids, route around the shampoo bottle with rounded body, then lower the cup for holding liquids onto the coaster with circular shape.",
+    "Carry the light blue plastic cup toward <the coaster with circular shape>, keeping clear of <the yellow bottle with green top>, and set the light blue plastic cup down.",
+    "Slide the medium-sized plastic blue cup over to <the small coaster with grain texture> without passing near <the shampoo bottle with handle slot>.",
+    "Move the smooth blue cup for liquids onto the small coaster with grain texture while avoiding the medium shampoo bottle with pump, then let go of the smooth blue cup for liquids.",
+    "Move the blue rounded-bottom cup to the wooden coaster while avoiding the yellow shampoo bottle, then place the blue rounded-bottom cup on the wooden coaster.",
+    "With an arm, take the cup for holding liquids, avoid the yellow shampoo bottle, and put the cup for holding liquids on the wooden coaster.",
+    "Move the blue rounded-bottom cup to the flat surface gray wooden coaster without crossing the bottle with cartoon label, then release the blue rounded-bottom cup.",
+    "Use an arm: pick the cup with smooth plastic surface up, skirt <the hand-sized yellow shampoo bottle>, then place the cup with smooth plastic surface onto <the round coaster>.",
+    "Pick up the light blue plastic cup, keep its path away from <the hand-sized yellow shampoo bottle>, and set the light blue plastic cup on <the round coaster>.",
+    "Secure the rounded base blue cup, move it around the yellow shampoo with cartoon design, and place the rounded base blue cup squarely on the small coaster with grain texture.",
+    "Take the cup for holding liquids, keep its path away from the yellow shampoo bottle, and place the cup for holding liquids on the light gray round grainy coaster.",
+    "Use the arm to move the medium-sized plastic blue cup past <the yellow shampoo bottle> and rest it on <the coaster with circular shape>.",
+    "Using an arm, move the cup with smooth plastic surface to <the grainy texture coaster> while avoiding <the hand-sized yellow shampoo bottle>, then release the cup with smooth plastic surface.",
+    "Use an arm, take the rounded base blue cup, avoid <the yellow container with green pump> on the way, and set on <the wooden coaster>.",
+    "Pick up the cup for holding liquids, route it away from the yellow bottle with green top, then set the cup for holding liquids on the coaster made of smooth wood.",
+    "Using an arm, grasp the medium blue cylindrical cup, skirt the shampoo bottle with handle slot, and place the medium blue cylindrical cup atop the coaster with circular shape.",
+    "Lift the cup for holding liquids, pass by the yellow shampoo with cartoon design without contact, then place the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Lift the cup with light blue color, go around the yellow bottle with green top, and position the cup with light blue color squarely on the smooth round palm-sized coaster.",
+    "Carry the smooth blue drinking cup toward <the light gray round grainy coaster>, keeping the path clear of <the shampoo with green dispensing pump>, then set down.",
+    "Use an arm to move the blue rounded-bottom cup around the yellow container with green pump and rest the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Arm-lift the cup with smooth plastic surface, swing around <the shampoo bottle with handle slot>, then place the cup with smooth plastic surface onto <the coaster with circular shape>.",
+    "Take the cup with light blue color to the round coaster while skirting the shampoo bottle with rounded body, then release the cup with light blue color on the round coaster.",
+    "Guide the medium-sized plastic blue cup with the arm around <the smooth bottle with green top> and onto <the smooth round palm-sized coaster>.",
+    "With an arm, pick the blue rounded-bottom cup up, bypass <the yellow container with green pump>, then place the blue rounded-bottom cup on <the wooden coaster>.",
+    "Use an arm to grab the smooth blue cup for liquids, avoid the shampoo with green dispensing pump, and set the smooth blue cup for liquids down on the round coaster.",
+    "Use an arm, pick the blue rounded-bottom cup up, pass around the plastic shampoo bottle with label, then place the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Using an arm, carry the blue rounded-bottom cup around the yellow shampoo bottle and place the blue rounded-bottom cup onto the round coaster.",
+    "Lift the smooth blue cup for liquids, steer away from <the yellow container with green pump>, then place the smooth blue cup for liquids on <the smooth round palm-sized coaster>.",
+    "Use an arm, keep the rounded base blue cup from the medium shampoo bottle with pump, and lower the rounded base blue cup onto the round coaster with light streaks.",
+    "Lift the light blue plastic cup, guide it past the plastic shampoo bottle with label, and rest the light blue plastic cup on the smooth round palm-sized coaster.",
+    "With an arm, lift the smooth blue drinking cup, route past <the shampoo with green dispensing pump>, and drop the smooth blue drinking cup onto <the light gray streaked wooden coaster>.",
+    "Lift the cup for holding liquids, keep clear of the yellow shampoo bottle, and put the cup for holding liquids down on the light gray round grainy coaster.",
+    "Move the rounded base blue cup onto the small coaster with grain texture while avoiding the yellow shampoo with cartoon design, then let go of the rounded base blue cup."
+  ],
+  "unseen": [
+    "Use an arm to grab the blue cup, steer around <the smooth plastic shampoo container>, and place the blue cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the yellow bottle with rounded edges, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the yellow bottle with rounded edges, then set the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the yellow bottle with rounded edges>, and place it on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the yellow shampoo with pump dispenser>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth plastic shampoo container, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth plastic shampoo container, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the yellow shampoo with pump dispenser, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the smooth plastic shampoo container, then set the blue cup down on the light gray coaster.",
+    "Grab the blue cup, route it around <the yellow shampoo with pump dispenser>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the yellow bottle with rounded edges>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the smooth plastic shampoo container>, and set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the yellow bottle with rounded edges, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the yellow shampoo with pump dispenser, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the smooth plastic shampoo container, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the smooth plastic shampoo container>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the yellow bottle with rounded edges, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the yellow bottle with rounded edges, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the smooth plastic shampoo container, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the yellow bottle with rounded edges>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the yellow shampoo with pump dispenser>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow bottle with rounded edges, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the yellow bottle with rounded edges, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the yellow bottle with rounded edges, then set the blue cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the yellow bottle with rounded edges>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the yellow bottle with rounded edges>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the yellow bottle with rounded edges>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the smooth plastic shampoo container, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the yellow bottle with rounded edges, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the smooth plastic shampoo container>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the yellow shampoo with pump dispenser, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the smooth plastic shampoo container, then set the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the smooth plastic shampoo container, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the smooth plastic shampoo container>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the yellow bottle with rounded edges>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the yellow bottle with rounded edges, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth plastic shampoo container, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the yellow bottle with rounded edges, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the yellow shampoo with pump dispenser, then set the blue cup down on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the yellow shampoo with pump dispenser>, then place the small smooth cup onto <the light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the yellow bottle with rounded edges>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the smooth plastic shampoo container>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the yellow bottle with rounded edges, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the yellow bottle with rounded edges, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the yellow shampoo with pump dispenser>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the yellow bottle with rounded edges, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the yellow shampoo with pump dispenser, then set the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the smooth plastic shampoo container, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the yellow bottle with rounded edges>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep it clear of <the smooth plastic shampoo container>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the smooth plastic shampoo container, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth plastic shampoo container, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the smooth plastic shampoo container, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the yellow bottle with rounded edges, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the smooth plastic shampoo container>, then place the small smooth cup onto <the light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the yellow shampoo with pump dispenser>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the yellow bottle with rounded edges>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the yellow bottle with rounded edges, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the yellow bottle with rounded edges, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the smooth plastic shampoo container>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the yellow shampoo with pump dispenser, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the smooth plastic shampoo container, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the yellow shampoo with pump dispenser>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the smooth plastic shampoo container>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the yellow shampoo with pump dispenser, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the yellow bottle with rounded edges, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the smooth plastic shampoo container, and set it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the yellow bottle with rounded edges, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the yellow bottle with rounded edges>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the yellow shampoo with pump dispenser>, then set the blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the smooth plastic shampoo container>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the yellow bottle with rounded edges, and place it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the yellow bottle with rounded edges, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the yellow bottle with rounded edges, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the yellow bottle with rounded edges>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the yellow bottle with rounded edges, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the yellow shampoo with pump dispenser, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the yellow shampoo with pump dispenser, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the yellow bottle with rounded edges>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the yellow bottle with rounded edges>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the smooth plastic shampoo container, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth plastic shampoo container, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set it on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the yellow bottle with rounded edges, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the yellow shampoo with pump dispenser>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the blue cup, avoid <the yellow bottle with rounded edges>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the yellow shampoo with pump dispenser>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the smooth plastic shampoo container, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the yellow bottle with rounded edges, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the yellow shampoo with pump dispenser>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the smooth plastic shampoo container, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the smooth plastic shampoo container, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the smooth plastic shampoo container, then place the small smooth cup onto the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode31.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..280e3003e574eb5487718b0d3e6814ea0622a566
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the cup for holding liquids, guide it away from the smooth shampoo container, and set the cup for holding liquids neatly on the coaster made of smooth wood.",
+    "Move the rounded base blue cup to <the light gray streaked wooden coaster> while keeping the rounded base blue cup away from <the shampoo bottle>, then release.",
+    "Take the plastic cup for drinks, keep its path away from the shampoo bottle, and drop the plastic cup for drinks on the grainy texture coaster.",
+    "Pick up the plastic cup for drinks, keep its path away from <the hand-held shampoo bottle>, and set the plastic cup for drinks on <the wooden coaster>.",
+    "Pick up the light blue plastic cup, guide it past the shampoo bottle, and drop the light blue plastic cup on the wooden coaster.",
+    "Lift the smooth blue drinking cup, steer away from <the medium shampoo container>, then place the smooth blue drinking cup on <the flat round wooden coaster>.",
+    "Grab the rounded base blue cup, swing it away from <the smooth shampoo container>, and place the rounded base blue cup on <the round coaster with light streaks>.",
+    "Pick up the blue rounded-bottom cup, route it away from the shampoo bottle, then set the blue rounded-bottom cup on the flat round wooden coaster.",
+    "Slide the plastic cup for drinks toward the light gray streaked wooden coaster, detouring around the shampoo bottle with rectangular base, then set the plastic cup for drinks down.",
+    "Arm-lift the medium blue cylindrical cup, swing around <the white bottle with golden accents>, then place the medium blue cylindrical cup onto <the smooth round palm-sized coaster>.",
+    "Move the medium-sized plastic blue cup to the wooden coaster without crossing the shampoo bottle, then release the medium-sized plastic blue cup.",
+    "Using an arm, carry the cup with light blue color around the white shampoo bottle with golden top and place the cup with light blue color onto the coaster made of smooth wood.",
+    "Use an arm to lift the cylindrical light blue cup, arc around the white shampoo bottle, and place the cylindrical light blue cup atop the coaster with circular shape.",
+    "Take the cup with smooth plastic surface to the light gray streaked wooden coaster while skirting the white bottle with golden accents, then release the cup with smooth plastic surface on the light gray streaked wooden coaster.",
+    "Secure the cup with light blue color, move it around the shampoo bottle with rectangular base, and place the cup with light blue color squarely on the coaster made of smooth wood.",
+    "Lift the medium blue cylindrical cup, arc around the shampoo bottle with rectangular base, and place the medium blue cylindrical cup squarely on the flat surface gray wooden coaster.",
+    "Use an arm, take the medium blue cylindrical cup past the bottle with yellow cap without nearing it, and rest the medium blue cylindrical cup on the flat surface gray wooden coaster.",
+    "Move the cup with smooth plastic surface onto the round coaster with light streaks while avoiding the white shampoo bottle with golden top, then let go of the cup with smooth plastic surface.",
+    "Move the rounded base blue cup to the flat round wooden coaster while avoiding the white shampoo bottle with golden top, then place the rounded base blue cup on the flat round wooden coaster.",
+    "Use an arm, keep the cup with smooth plastic surface from the hand-held shampoo bottle, and lower the cup with smooth plastic surface onto the grainy texture coaster.",
+    "With an arm, bring the cup with smooth plastic surface over to <the flat surface gray wooden coaster> and keep clear of <the shampoo bottle>.",
+    "Use an arm, pick the smooth blue cup for liquids up, pass around the white shampoo bottle with golden top, then place the smooth blue cup for liquids on the coaster with circular shape.",
+    "Guide the plastic cup for drinks with the arm around <the bottle for shampoo with glossy finish> and onto <the round coaster>.",
+    "With an arm, move the cup with light blue color past the plastic shampoo bottle with smooth surface and place the cup with light blue color on the coaster with circular shape.",
+    "Use the arm to carry the medium blue cylindrical cup around the white bottle with golden accents, then rest the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Take the cylindrical light blue cup, arc around <the white shampoo bottle with golden top>, and place the cylindrical light blue cup neatly on <the small coaster with grain texture>.",
+    "With an arm, lift the smooth blue cup for liquids, avoid the bottle for shampoo with glossy finish, and set the smooth blue cup for liquids onto the round coaster.",
+    "Use an arm to move the cylindrical light blue cup around the bottle with yellow cap and rest the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Take the medium-sized plastic blue cup, guide it away from <the medium shampoo container>, and place the medium-sized plastic blue cup squarely on <the coaster made of smooth wood>.",
+    "With an arm, lift the rounded base blue cup, keep it away from the smooth shampoo container, and drop it onto the small coaster with grain texture.",
+    "With an arm, lift the rounded base blue cup, avoid the white bottle with golden accents, and place the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Pick the plastic cup for drinks up, route it away from the rectangular shampoo bottle with rounded top, and drop the plastic cup for drinks onto the flat round wooden coaster.",
+    "Carry the plastic cup for drinks toward <the small coaster with grain texture>, keeping the path clear of <the smooth shampoo container>, then set down.",
+    "Lift the light blue plastic cup, go around the bottle for shampoo with glossy finish, and position the light blue plastic cup squarely on the grainy texture coaster.",
+    "With an arm, take the cylindrical light blue cup, avoid the shampoo bottle with rectangular base, and put the cylindrical light blue cup on the round coaster.",
+    "With an arm, pick the smooth blue cup for liquids up, bypass <the plastic shampoo bottle with smooth surface>, then place the smooth blue cup for liquids on <the coaster with circular shape>.",
+    "Lift the smooth blue cup for liquids, route it away from the white shampoo bottle, then put the smooth blue cup for liquids squarely on the light gray round grainy coaster.",
+    "Lift the cup with light blue color, keep clear of the shampoo bottle with rectangular base, and put the cup with light blue color down on the round coaster.",
+    "Take the medium blue cylindrical cup, route it away from the hand-held shampoo bottle, and set the medium blue cylindrical cup onto the wooden coaster.",
+    "Use an arm to move the light blue plastic cup toward the light gray streaked wooden coaster, keeping the light blue plastic cup clear of the white shampoo bottle.",
+    "Use the arm to move the smooth blue drinking cup past <the rectangular shampoo bottle with rounded top> and rest it on <the smooth round palm-sized coaster>.",
+    "Take the blue rounded-bottom cup in the arm, route around <the white shampoo bottle>, and set it on <the smooth round palm-sized coaster>.",
+    "Use an arm: take the medium blue cylindrical cup, avoid the plastic shampoo bottle with smooth surface during the move, and drop it on the light gray streaked wooden coaster.",
+    "Carry the cylindrical light blue cup toward the light gray round grainy coaster, keeping the cylindrical light blue cup away from the bottle for shampoo with glossy finish, then set down.",
+    "With an arm, lift the rounded base blue cup, guide it past the plastic shampoo bottle with smooth surface, and put the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Move the cup for holding liquids to <the small coaster with grain texture> while keeping its path away from <the rectangular shampoo bottle with rounded top>.",
+    "Pick up the cup for holding liquids, keep clear of <the bottle with yellow cap>, and drop the cup for holding liquids onto <the small coaster with grain texture>.",
+    "Use an arm, take the smooth blue drinking cup, avoid <the smooth shampoo container> on the way, and set on <the light gray round grainy coaster>.",
+    "Use the arm to lift the medium blue cylindrical cup, pass the medium shampoo container, and place the medium blue cylindrical cup on the coaster with circular shape.",
+    "Carry the medium blue cylindrical cup toward <the small coaster with grain texture>, keeping clear of <the plastic shampoo bottle with smooth surface>, and set the medium blue cylindrical cup down.",
+    "Using an arm, carry the medium-sized plastic blue cup past <the white shampoo bottle with golden top> and place the medium-sized plastic blue cup squarely on <the light gray streaked wooden coaster>.",
+    "Use an arm to move the cylindrical light blue cup to the grainy texture coaster, keeping the cylindrical light blue cup from bumping the shampoo bottle with rectangular base.",
+    "Lift the smooth blue drinking cup, guide it around <the white shampoo bottle with golden top>, then put the smooth blue drinking cup onto <the light gray streaked wooden coaster>.",
+    "Using an arm, pick the rounded base blue cup up, skirt the shampoo bottle with rectangular base, and place the rounded base blue cup on the light gray round grainy coaster.",
+    "Use an arm to lift the blue rounded-bottom cup, keep distance from <the bottle with yellow cap>, and set the blue rounded-bottom cup on <the wooden coaster>.",
+    "Pick up the plastic cup for drinks, avoid the hand-held shampoo bottle along the way, and place the plastic cup for drinks on the flat round wooden coaster.",
+    "Using an arm, pick the medium blue cylindrical cup up, skirt the shampoo bottle with rectangular base, and place the medium blue cylindrical cup on the flat round wooden coaster.",
+    "Move the medium-sized plastic blue cup toward the smooth round palm-sized coaster without passing near the hand-held shampoo bottle, then set it down.",
+    "Grab the blue rounded-bottom cup, route around the rectangular shampoo bottle with rounded top, then lower the blue rounded-bottom cup onto the round coaster with light streaks.",
+    "Lift the rounded base blue cup, carry it around the plastic shampoo bottle with smooth surface, and place the rounded base blue cup squarely on the flat surface gray wooden coaster.",
+    "Lift the plastic cup for drinks, pass by the white shampoo bottle without contact, then place the plastic cup for drinks on the coaster made of smooth wood.",
+    "Lift the smooth blue drinking cup, pass beside <the white shampoo bottle> without contact, then place the smooth blue drinking cup onto <the light gray streaked wooden coaster>.",
+    "With an arm, lift the medium blue cylindrical cup, avoid <the shampoo bottle> on the way, and drop the medium blue cylindrical cup on <the round coaster with light streaks>.",
+    "Use an arm to take the rounded base blue cup around <the bottle with yellow cap> and place the rounded base blue cup on <the coaster made of smooth wood>.",
+    "Use an arm: grab the medium blue cylindrical cup, avoid the white shampoo bottle on the way, then set the medium blue cylindrical cup on the small coaster with grain texture.",
+    "Carry the cup with smooth plastic surface toward <the smooth round palm-sized coaster>, skirting <the white bottle with golden accents>, and set the cup with smooth plastic surface down.",
+    "Use an arm: grasp the cylindrical light blue cup, avoid <the rectangular shampoo bottle with rounded top>, and place the cylindrical light blue cup on <the coaster made of smooth wood>.",
+    "Slide the medium blue cylindrical cup over to <the wooden coaster> without passing near <the white bottle with golden accents>.",
+    "Take the smooth blue drinking cup, keep its path away from the bottle with yellow cap, and place the smooth blue drinking cup on the round coaster.",
+    "Move the plastic cup for drinks onto the coaster with circular shape while avoiding the white bottle with golden accents, then let go of the plastic cup for drinks.",
+    "Use an arm to grab the cylindrical light blue cup, avoid the medium shampoo container, and set the cylindrical light blue cup down on the flat surface gray wooden coaster.",
+    "Take the cup with smooth plastic surface, swing wide of the shampoo bottle with rectangular base, then rest the cup with smooth plastic surface on the round coaster with light streaks.",
+    "Lift the smooth blue cup for liquids, guide it past the bottle for shampoo with glossy finish, and rest the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Use an arm: pick the smooth blue drinking cup up, skirt <the bottle for shampoo with glossy finish>, then place the smooth blue drinking cup onto <the flat round wooden coaster>.",
+    "Using an arm, grasp the cylindrical light blue cup, skirt the white shampoo bottle with golden top, and place the cylindrical light blue cup atop the grainy texture coaster.",
+    "Using an arm, move the cup with light blue color to <the flat round wooden coaster> while avoiding <the smooth shampoo container>, then release the cup with light blue color.",
+    "Use an arm to bring the cup with smooth plastic surface to the wooden coaster, keeping the cup with smooth plastic surface clear of the bottle with yellow cap.",
+    "Move the blue rounded-bottom cup onto <the flat surface gray wooden coaster> and ensure the path stays away from <the white shampoo bottle>.",
+    "Secure the cylindrical light blue cup, keep its path away from the white bottle with golden accents, and set the cylindrical light blue cup on the grainy texture coaster.",
+    "With an arm, lift the medium blue cylindrical cup, route past <the white shampoo bottle>, and drop the medium blue cylindrical cup onto <the flat surface gray wooden coaster>.",
+    "Grab the cup with light blue color, guide it away from the bottle for shampoo with glossy finish, and set the cup with light blue color neatly on the coaster made of smooth wood.",
+    "Move the cylindrical light blue cup to <the grainy texture coaster> while keeping the cylindrical light blue cup away from <the hand-held shampoo bottle>, then release.",
+    "Take the plastic cup for drinks, keep its path away from the hand-held shampoo bottle, and drop the plastic cup for drinks on the light gray round grainy coaster.",
+    "Pick up the light blue plastic cup, keep its path away from <the bottle with yellow cap>, and set the light blue plastic cup on <the flat round wooden coaster>.",
+    "Pick up the medium blue cylindrical cup, guide it past the smooth shampoo container, and drop the medium blue cylindrical cup on the round coaster.",
+    "Lift the cup for holding liquids, steer away from <the plastic shampoo bottle with smooth surface>, then place the cup for holding liquids on <the coaster made of smooth wood>.",
+    "Grab the blue rounded-bottom cup, swing it away from <the white shampoo bottle>, and place the blue rounded-bottom cup on <the wooden coaster>.",
+    "Pick up the blue rounded-bottom cup, route it away from the white bottle with golden accents, then set the blue rounded-bottom cup on the smooth round palm-sized coaster.",
+    "Slide the cylindrical light blue cup toward the coaster made of smooth wood, detouring around the white shampoo bottle, then set the cylindrical light blue cup down.",
+    "Arm-lift the light blue plastic cup, swing around <the plastic shampoo bottle with smooth surface>, then place the light blue plastic cup onto <the flat surface gray wooden coaster>.",
+    "Move the smooth blue drinking cup to the small coaster with grain texture without crossing the white shampoo bottle with golden top, then release the smooth blue drinking cup.",
+    "Using an arm, carry the cup for holding liquids around the plastic shampoo bottle with smooth surface and place the cup for holding liquids onto the round coaster.",
+    "Use an arm to lift the blue rounded-bottom cup, arc around the white bottle with golden accents, and place the blue rounded-bottom cup atop the round coaster.",
+    "Take the smooth blue drinking cup to the smooth round palm-sized coaster while skirting the bottle with yellow cap, then release the smooth blue drinking cup on the smooth round palm-sized coaster.",
+    "Secure the smooth blue drinking cup, move it around the rectangular shampoo bottle with rounded top, and place the smooth blue drinking cup squarely on the light gray streaked wooden coaster.",
+    "Lift the light blue plastic cup, arc around the smooth shampoo container, and place the light blue plastic cup squarely on the round coaster with light streaks.",
+    "Use an arm, take the cup with light blue color past the medium shampoo container without nearing it, and rest the cup with light blue color on the light gray streaked wooden coaster.",
+    "Move the smooth blue cup for liquids onto the small coaster with grain texture while avoiding the plastic shampoo bottle with smooth surface, then let go of the smooth blue cup for liquids.",
+    "Move the medium blue cylindrical cup to the grainy texture coaster while avoiding the white bottle with golden accents, then place the medium blue cylindrical cup on the grainy texture coaster.",
+    "Use an arm, keep the medium-sized plastic blue cup from the hand-held shampoo bottle, and lower the medium-sized plastic blue cup onto the light gray round grainy coaster."
+  ],
+  "unseen": [
+    "Use an arm to grab the small smooth cup, steer clear of the medium-sized shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with rounded yellow cap, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the medium-sized shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle with rounded yellow cap, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the white plastic shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white plastic shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with rounded yellow cap>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the blue cup down on the light gray coaster.",
+    "Grab the blue cup, route it around <the medium-sized shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the white plastic shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the white plastic shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the white plastic shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the white plastic shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white plastic shampoo bottle, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the medium-sized shampoo bottle, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the white plastic shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the white plastic shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the medium-sized shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white plastic shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the medium-sized shampoo bottle, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the medium-sized shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the white plastic shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with rounded yellow cap>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the white plastic shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white plastic shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the white plastic shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the medium-sized shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the medium-sized shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the medium-sized shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the medium-sized shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the white plastic shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the medium-sized shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the white plastic shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the medium-sized shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the medium-sized shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white plastic shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the white plastic shampoo bottle>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the medium-sized shampoo bottle, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the shampoo bottle with rounded yellow cap>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the white plastic shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the medium-sized shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the white plastic shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with rounded yellow cap, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with rounded yellow cap, and set it on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the medium-sized shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the medium-sized shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the medium-sized shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the white plastic shampoo bottle>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the white plastic shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white plastic shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with rounded yellow cap, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle with rounded yellow cap, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the blue cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white plastic shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the white plastic shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the medium-sized shampoo bottle, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with rounded yellow cap>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the medium-sized shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the white plastic shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the white plastic shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with rounded yellow cap, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the white plastic shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode32.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9dc4280205a5c3b0cd8b80ee228de2c383f6039
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With an arm, lift the cup for holding liquids, avoid the pink-topped shampoo bottle, and set the cup for holding liquids onto the grainy texture coaster.",
+    "Take the cup with smooth plastic surface, swing wide of the hand-sized shampoo bottle, then rest the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Using an arm, pick the smooth blue cup for liquids up, skirt the shampoo dispenser with flat base, and place the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Carry the smooth blue cup for liquids toward <the wooden coaster>, keeping the path clear of <the shampoo bottle with pink cap>, then set down.",
+    "Using an arm, grasp the cup with light blue color, skirt the white shampoo bottle, and place the cup with light blue color atop the light gray streaked wooden coaster.",
+    "Lift the medium-sized plastic blue cup, go around the white body pink flip cap bottle, and position the medium-sized plastic blue cup squarely on the flat surface gray wooden coaster.",
+    "Move the smooth blue drinking cup toward the smooth round palm-sized coaster without passing near the white body pink flip cap bottle, then set it down.",
+    "Lift the cylindrical light blue cup, pass beside <the oval-shaped shampoo bottle> without contact, then place the cylindrical light blue cup onto <the wooden coaster>.",
+    "Pick up the plastic cup for drinks, route it away from the shampoo bottle with pink cap, then set the plastic cup for drinks on the light gray round grainy coaster.",
+    "Grab the medium-sized plastic blue cup, route around the glossy white shampoo bottle, then lower the medium-sized plastic blue cup onto the light gray round grainy coaster.",
+    "Take the cup with light blue color, route it away from the white body pink flip cap bottle, and set the cup with light blue color onto the round coaster.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the medium oval plastic shampoo container, and place the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Slide the medium-sized plastic blue cup over to <the coaster with circular shape> without passing near <the pink-topped shampoo bottle>.",
+    "Lift the light blue plastic cup, pass by the medium shampoo bottle without contact, then place the light blue plastic cup on the flat round wooden coaster.",
+    "Use an arm, keep the medium blue cylindrical cup from the hand-sized shampoo bottle, and lower the medium blue cylindrical cup onto the round coaster with light streaks.",
+    "With an arm, lift the medium-sized plastic blue cup, guide it past the smooth white shampoo dispenser, and put the medium-sized plastic blue cup on the flat surface gray wooden coaster.",
+    "With an arm, lift the cup with light blue color, avoid <the hand-sized shampoo bottle> on the way, and drop the cup with light blue color on <the light gray streaked wooden coaster>.",
+    "Use the arm to lift the plastic cup for drinks, pass the shampoo dispenser with flat base, and place the plastic cup for drinks on the round coaster.",
+    "Take the blue rounded-bottom cup, arc around <the shampoo bottle with pink cap>, and place the blue rounded-bottom cup neatly on <the wooden coaster>.",
+    "Use the arm to carry the light blue plastic cup around the medium oval plastic shampoo container, then rest the light blue plastic cup on the small coaster with grain texture.",
+    "Using an arm, move the medium-sized plastic blue cup to <the wooden coaster> while avoiding <the smooth white shampoo dispenser>, then release the medium-sized plastic blue cup.",
+    "Move the rounded base blue cup to <the smooth round palm-sized coaster> while keeping the rounded base blue cup away from <the smooth white shampoo dispenser>, then release.",
+    "Pick up the cup with smooth plastic surface, guide it past the plastic shampoo container, and drop the cup with smooth plastic surface on the light gray streaked wooden coaster.",
+    "Use an arm: grasp the blue rounded-bottom cup, avoid <the oval-shaped shampoo bottle>, and place the blue rounded-bottom cup on <the light gray streaked wooden coaster>.",
+    "Using an arm, carry the medium blue cylindrical cup past <the plastic shampoo container> and place the medium blue cylindrical cup squarely on <the flat surface gray wooden coaster>.",
+    "Move the medium-sized plastic blue cup onto <the light gray round grainy coaster> and ensure the path stays away from <the medium shampoo bottle>.",
+    "Lift the smooth blue drinking cup, arc around the medium oval plastic shampoo container, and place the smooth blue drinking cup squarely on the round coaster.",
+    "Use an arm to move the cup for holding liquids toward the light gray round grainy coaster, keeping the cup for holding liquids clear of the pink-topped shampoo bottle.",
+    "Move the medium blue cylindrical cup to the small coaster with grain texture while avoiding the oval-shaped shampoo bottle, then place the medium blue cylindrical cup on the small coaster with grain texture.",
+    "Using an arm, carry the plastic cup for drinks around the hand-sized shampoo bottle and place the plastic cup for drinks onto the round coaster.",
+    "Take the plastic cup for drinks in the arm, route around <the pink-topped shampoo bottle>, and set it on <the light gray round grainy coaster>.",
+    "Use an arm to move the rounded base blue cup to the wooden coaster, keeping the rounded base blue cup from bumping the medium oval plastic shampoo container.",
+    "Move the cup with smooth plastic surface to <the wooden coaster> while keeping its path away from <the medium shampoo bottle>.",
+    "Move the smooth blue cup for liquids onto the wooden coaster while avoiding the oval-shaped shampoo bottle, then let go of the smooth blue cup for liquids.",
+    "Use the arm to move the cylindrical light blue cup past <the white shampoo bottle> and rest it on <the grainy texture coaster>.",
+    "Lift the smooth blue cup for liquids, keep clear of the white body pink flip cap bottle, and put the smooth blue cup for liquids down on the round coaster with light streaks.",
+    "Use an arm, pick the medium-sized plastic blue cup up, pass around the oval-shaped shampoo bottle, then place the medium-sized plastic blue cup on the round coaster with light streaks.",
+    "Lift the smooth blue cup for liquids, route it away from the white shampoo bottle, then put the smooth blue cup for liquids squarely on the coaster made of smooth wood.",
+    "Arm-lift the light blue plastic cup, swing around <the medium shampoo bottle>, then place the light blue plastic cup onto <the round coaster with light streaks>.",
+    "Take the medium-sized plastic blue cup, guide it away from <the white shampoo bottle>, and place the medium-sized plastic blue cup squarely on <the coaster with circular shape>.",
+    "With an arm, lift the medium blue cylindrical cup, keep it away from the hand-sized shampoo bottle, and drop it onto the grainy texture coaster.",
+    "Lift the medium-sized plastic blue cup, guide it around <the plastic shampoo container>, then put the medium-sized plastic blue cup onto <the coaster made of smooth wood>.",
+    "Slide the cup with light blue color toward the round coaster with light streaks, detouring around the glossy white shampoo bottle, then set the cup with light blue color down.",
+    "Use an arm to bring the light blue plastic cup to the round coaster with light streaks, keeping the light blue plastic cup clear of the medium oval plastic shampoo container.",
+    "Guide the blue rounded-bottom cup with the arm around <the white body pink flip cap bottle> and onto <the coaster made of smooth wood>.",
+    "Grab the blue rounded-bottom cup, swing it away from <the glossy white shampoo bottle>, and place the blue rounded-bottom cup on <the light gray streaked wooden coaster>.",
+    "Use an arm, take the blue rounded-bottom cup past the oval-shaped shampoo bottle without nearing it, and rest the blue rounded-bottom cup on the grainy texture coaster.",
+    "Carry the medium blue cylindrical cup toward <the light gray round grainy coaster>, skirting <the glossy white shampoo bottle>, and set the medium blue cylindrical cup down.",
+    "Use an arm: take the plastic cup for drinks, avoid the pink-topped shampoo bottle during the move, and drop it on the wooden coaster.",
+    "Lift the cup with light blue color, steer away from <the shampoo bottle with pink cap>, then place the cup with light blue color on <the light gray streaked wooden coaster>.",
+    "Use an arm to lift the cylindrical light blue cup, arc around the medium shampoo bottle, and place the cylindrical light blue cup atop the round coaster.",
+    "Lift the cylindrical light blue cup, carry it around the glossy white shampoo bottle, and place the cylindrical light blue cup squarely on the flat surface gray wooden coaster.",
+    "Use an arm to move the smooth blue cup for liquids around the medium oval plastic shampoo container and rest the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "Use an arm: pick the light blue plastic cup up, skirt <the white body pink flip cap bottle>, then place the light blue plastic cup onto <the flat surface gray wooden coaster>.",
+    "Lift the medium blue cylindrical cup, guide it past the shampoo bottle with pink cap, and rest the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Use an arm to lift the plastic cup for drinks, keep distance from <the white body pink flip cap bottle>, and set the plastic cup for drinks on <the round coaster>.",
+    "With an arm, lift the smooth blue drinking cup, route past <the smooth white shampoo dispenser>, and drop the smooth blue drinking cup onto <the coaster with circular shape>.",
+    "Pick up the rounded base blue cup, keep its path away from <the oval-shaped shampoo bottle>, and set the rounded base blue cup on <the light gray streaked wooden coaster>.",
+    "With an arm, lift the cylindrical light blue cup, avoid the white shampoo bottle, and place the cylindrical light blue cup on the small coaster with grain texture.",
+    "Use an arm: grab the cylindrical light blue cup, avoid the shampoo bottle with pink cap on the way, then set the cylindrical light blue cup on the flat round wooden coaster.",
+    "With an arm, take the cylindrical light blue cup, avoid the white shampoo bottle, and put the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Secure the rounded base blue cup, move it around the white body pink flip cap bottle, and place the rounded base blue cup squarely on the coaster made of smooth wood.",
+    "Grab the blue rounded-bottom cup, guide it away from the smooth white shampoo dispenser, and set the blue rounded-bottom cup neatly on the flat surface gray wooden coaster.",
+    "Move the plastic cup for drinks to the flat surface gray wooden coaster without crossing the plastic shampoo container, then release the plastic cup for drinks.",
+    "Take the medium blue cylindrical cup, keep its path away from the white shampoo bottle, and place the medium blue cylindrical cup on the wooden coaster.",
+    "With an arm, bring the blue rounded-bottom cup over to <the grainy texture coaster> and keep clear of <the shampoo bottle with pink cap>.",
+    "Move the medium blue cylindrical cup onto the small coaster with grain texture while avoiding the smooth white shampoo dispenser, then let go of the medium blue cylindrical cup.",
+    "Pick up the medium-sized plastic blue cup, keep clear of <the hand-sized shampoo bottle>, and drop the medium-sized plastic blue cup onto <the grainy texture coaster>.",
+    "Secure the cylindrical light blue cup, keep its path away from the plastic shampoo container, and set the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Take the plastic cup for drinks, keep its path away from the shampoo dispenser with flat base, and drop the plastic cup for drinks on the wooden coaster.",
+    "Use an arm to take the blue rounded-bottom cup around <the oval-shaped shampoo bottle> and place the blue rounded-bottom cup on <the round coaster>.",
+    "Use an arm to grab the rounded base blue cup, avoid the glossy white shampoo bottle, and set the rounded base blue cup down on the coaster with circular shape.",
+    "Carry the smooth blue cup for liquids toward <the smooth round palm-sized coaster>, keeping clear of <the hand-sized shampoo bottle>, and set the smooth blue cup for liquids down.",
+    "Use an arm, take the cylindrical light blue cup, avoid <the white shampoo bottle> on the way, and set on <the light gray round grainy coaster>.",
+    "With an arm, move the cup with smooth plastic surface past the oval-shaped shampoo bottle and place the cup with smooth plastic surface on the round coaster with light streaks.",
+    "Pick up the cup with light blue color, avoid the medium oval plastic shampoo container along the way, and place the cup with light blue color on the wooden coaster.",
+    "Take the medium-sized plastic blue cup to the light gray round grainy coaster while skirting the hand-sized shampoo bottle, then release the medium-sized plastic blue cup on the light gray round grainy coaster.",
+    "With an arm, pick the cup with light blue color up, bypass <the white shampoo bottle>, then place the cup with light blue color on <the light gray streaked wooden coaster>.",
+    "Pick the cup for holding liquids up, route it away from the oval-shaped shampoo bottle, and drop the cup for holding liquids onto the flat round wooden coaster.",
+    "Carry the cup with smooth plastic surface toward the coaster with circular shape, keeping the cup with smooth plastic surface away from the smooth white shampoo dispenser, then set down.",
+    "With an arm, lift the smooth blue drinking cup, avoid the glossy white shampoo bottle, and set the smooth blue drinking cup onto the wooden coaster.",
+    "Take the plastic cup for drinks, swing wide of the oval-shaped shampoo bottle, then rest the plastic cup for drinks on the wooden coaster.",
+    "Using an arm, pick the smooth blue drinking cup up, skirt the plastic shampoo container, and place the smooth blue drinking cup on the wooden coaster.",
+    "Carry the plastic cup for drinks toward <the light gray round grainy coaster>, keeping the path clear of <the medium shampoo bottle>, then set down.",
+    "Using an arm, grasp the medium blue cylindrical cup, skirt the smooth white shampoo dispenser, and place the medium blue cylindrical cup atop the flat round wooden coaster.",
+    "Lift the rounded base blue cup, go around the medium shampoo bottle, and position the rounded base blue cup squarely on the round coaster.",
+    "Move the cylindrical light blue cup toward the small coaster with grain texture without passing near the medium shampoo bottle, then set it down.",
+    "Lift the cup with smooth plastic surface, pass beside <the shampoo dispenser with flat base> without contact, then place the cup with smooth plastic surface onto <the grainy texture coaster>.",
+    "Pick up the smooth blue drinking cup, route it away from the white body pink flip cap bottle, then set the smooth blue drinking cup on the light gray round grainy coaster.",
+    "Grab the plastic cup for drinks, route around the plastic shampoo container, then lower the plastic cup for drinks onto the flat round wooden coaster.",
+    "Take the blue rounded-bottom cup, route it away from the shampoo dispenser with flat base, and set the blue rounded-bottom cup onto the light gray round grainy coaster.",
+    "Using an arm, pick the cup with light blue color up, skirt the plastic shampoo container, and place the cup with light blue color on the flat round wooden coaster.",
+    "Slide the smooth blue cup for liquids over to <the light gray round grainy coaster> without passing near <the white shampoo bottle>.",
+    "Lift the cup with smooth plastic surface, pass by the white body pink flip cap bottle without contact, then place the cup with smooth plastic surface on the coaster with circular shape.",
+    "Use an arm, keep the medium-sized plastic blue cup from the oval-shaped shampoo bottle, and lower the medium-sized plastic blue cup onto the flat round wooden coaster.",
+    "With an arm, lift the cup for holding liquids, guide it past the medium shampoo bottle, and put the cup for holding liquids on the smooth round palm-sized coaster.",
+    "With an arm, lift the cup with light blue color, avoid <the oval-shaped shampoo bottle> on the way, and drop the cup with light blue color on <the light gray streaked wooden coaster>.",
+    "Use the arm to lift the cylindrical light blue cup, pass the hand-sized shampoo bottle, and place the cylindrical light blue cup on the coaster with circular shape.",
+    "Take the rounded base blue cup, arc around <the oval-shaped shampoo bottle>, and place the rounded base blue cup neatly on <the wooden coaster>.",
+    "Use the arm to carry the blue rounded-bottom cup around the glossy white shampoo bottle, then rest the blue rounded-bottom cup on the round coaster with light streaks."
+  ],
+  "unseen": [
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with Dove logo, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the bottle for holding shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo bottle with Dove logo>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the Dove shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the Dove shampoo bottle>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with Dove logo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the bottle for holding shampoo, and set it on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the bottle for holding shampoo>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with Dove logo, and place it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle with Dove logo, then set the blue cup onto the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the bottle for holding shampoo>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the Dove shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the Dove shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the Dove shampoo bottle, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with Dove logo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the Dove shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the bottle for holding shampoo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the Dove shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the Dove shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with Dove logo, and set it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with Dove logo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the bottle for holding shampoo, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with Dove logo, then set the handheld round blue cup onto the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the bottle for holding shampoo>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo bottle with Dove logo, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with Dove logo, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the bottle for holding shampoo>, and place it on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with Dove logo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the Dove shampoo bottle>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the Dove shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, route it around <the Dove shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with Dove logo>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with Dove logo, and set it on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the bottle for holding shampoo>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the bottle for holding shampoo, and place it on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with Dove logo, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with Dove logo>, and set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the shampoo bottle with Dove logo, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the bottle for holding shampoo, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the bottle for holding shampoo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with Dove logo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the Dove shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the Dove shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the Dove shampoo bottle>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the bottle for holding shampoo>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the Dove shampoo bottle, and set it on the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the bottle for holding shampoo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the Dove shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with Dove logo, then set the handheld round blue cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the Dove shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with Dove logo, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with Dove logo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the bottle for holding shampoo, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, guide it around <the Dove shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the bottle for holding shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the bottle for holding shampoo>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the bottle for holding shampoo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the Dove shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with Dove logo>, then place the small smooth cup onto <the light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the bottle for holding shampoo>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle with Dove logo, and set it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the bottle for holding shampoo>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with Dove logo, and place it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle with Dove logo, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the Dove shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the bottle for holding shampoo, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the bottle for holding shampoo, and set the blue cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with Dove logo, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the bottle for holding shampoo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the Dove shampoo bottle>, and place it on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the Dove shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the bottle for holding shampoo>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the light gray coaster.",
+    "Pick up the blue cup, keep clear of the bottle for holding shampoo, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, route it around <the Dove shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the bottle for holding shampoo>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with Dove logo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the Dove shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with Dove logo, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with Dove logo>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the Dove shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with Dove logo, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with Dove logo, and set the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode33.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4c848d9d7ae3afbe0a99bcde63c2afe5ab836ef
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the light blue plastic cup, guide it past the shampoo bottle with pink cap, and drop the light blue plastic cup on the small coaster with grain texture.",
+    "Use an arm, pick the medium blue cylindrical cup up, pass around the smooth white shampoo dispenser, then place the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Take the rounded base blue cup, keep its path away from the white shampoo bottle, and place the rounded base blue cup on the round coaster.",
+    "Secure the cup with light blue color, move it around the medium shampoo bottle, and place the cup with light blue color squarely on the round coaster with light streaks.",
+    "With an arm, lift the cylindrical light blue cup, keep it away from the medium shampoo bottle, and drop it onto the grainy texture coaster.",
+    "Using an arm, pick the cup with light blue color up, skirt the white body pink flip cap bottle, and place the cup with light blue color on the round coaster with light streaks.",
+    "Use an arm to move the cup for holding liquids to the small coaster with grain texture, keeping the cup for holding liquids from bumping the shampoo dispenser with flat base.",
+    "Lift the smooth blue drinking cup, arc around the oval-shaped shampoo bottle, and place the smooth blue drinking cup squarely on the coaster made of smooth wood.",
+    "With an arm, pick the light blue plastic cup up, bypass <the smooth white shampoo dispenser>, then place the light blue plastic cup on <the wooden coaster>.",
+    "Pick up the cup with light blue color, avoid the smooth white shampoo dispenser along the way, and place the cup with light blue color on the round coaster with light streaks.",
+    "Move the cup with light blue color to <the coaster made of smooth wood> while keeping its path away from <the white shampoo bottle>.",
+    "Grab the medium blue cylindrical cup, guide it away from the white shampoo bottle, and set the medium blue cylindrical cup neatly on the coaster with circular shape.",
+    "Use an arm, keep the rounded base blue cup from the white shampoo bottle, and lower the rounded base blue cup onto the round coaster.",
+    "Move the plastic cup for drinks to the light gray streaked wooden coaster while avoiding the plastic shampoo container, then place the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Secure the medium-sized plastic blue cup, keep its path away from the white body pink flip cap bottle, and set the medium-sized plastic blue cup on the small coaster with grain texture.",
+    "Using an arm, carry the cup with light blue color around the pink-topped shampoo bottle and place the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Using an arm, move the cup with light blue color to <the flat surface gray wooden coaster> while avoiding <the glossy white shampoo bottle>, then release the cup with light blue color.",
+    "Use an arm: grasp the cup for holding liquids, avoid <the shampoo dispenser with flat base>, and place the cup for holding liquids on <the round coaster>.",
+    "Use an arm: take the cup with smooth plastic surface, avoid the oval-shaped shampoo bottle during the move, and drop it on the flat round wooden coaster.",
+    "Arm-lift the cup with light blue color, swing around <the glossy white shampoo bottle>, then place the cup with light blue color onto <the round coaster>.",
+    "With an arm, lift the rounded base blue cup, route past <the glossy white shampoo bottle>, and drop the rounded base blue cup onto <the flat round wooden coaster>.",
+    "Use an arm, take the cup for holding liquids past the hand-sized shampoo bottle without nearing it, and rest the cup for holding liquids on the grainy texture coaster.",
+    "Take the medium blue cylindrical cup, arc around <the shampoo dispenser with flat base>, and place the medium blue cylindrical cup neatly on <the grainy texture coaster>.",
+    "Use an arm to lift the rounded base blue cup, keep distance from <the plastic shampoo container>, and set the rounded base blue cup on <the round coaster with light streaks>.",
+    "Lift the cup with light blue color, pass beside <the plastic shampoo container> without contact, then place the cup with light blue color onto <the round coaster>.",
+    "Use an arm to take the smooth blue drinking cup around <the smooth white shampoo dispenser> and place the smooth blue drinking cup on <the grainy texture coaster>.",
+    "Use the arm to lift the light blue plastic cup, pass the plastic shampoo container, and place the light blue plastic cup on the flat surface gray wooden coaster.",
+    "Slide the smooth blue cup for liquids toward the coaster made of smooth wood, detouring around the white body pink flip cap bottle, then set the smooth blue cup for liquids down.",
+    "Take the rounded base blue cup, guide it away from <the smooth white shampoo dispenser>, and place the rounded base blue cup squarely on <the coaster made of smooth wood>.",
+    "Pick the cylindrical light blue cup up, route it away from the smooth white shampoo dispenser, and drop the cylindrical light blue cup onto the small coaster with grain texture.",
+    "Carry the plastic cup for drinks toward <the flat round wooden coaster>, skirting <the medium shampoo bottle>, and set the plastic cup for drinks down.",
+    "Use an arm to grab the medium blue cylindrical cup, avoid the glossy white shampoo bottle, and set the medium blue cylindrical cup down on the flat round wooden coaster.",
+    "Slide the cup with light blue color over to <the wooden coaster> without passing near <the white shampoo bottle>.",
+    "With an arm, bring the blue rounded-bottom cup over to <the coaster made of smooth wood> and keep clear of <the plastic shampoo container>.",
+    "Move the light blue plastic cup toward the light gray streaked wooden coaster without passing near the shampoo dispenser with flat base, then set it down.",
+    "Using an arm, pick the cup for holding liquids up, skirt the plastic shampoo container, and place the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Pick up the cylindrical light blue cup, keep its path away from <the hand-sized shampoo bottle>, and set the cylindrical light blue cup on <the small coaster with grain texture>.",
+    "Guide the cup with smooth plastic surface with the arm around <the smooth white shampoo dispenser> and onto <the grainy texture coaster>.",
+    "Lift the light blue plastic cup, guide it past the medium oval plastic shampoo container, and rest the light blue plastic cup on the round coaster with light streaks.",
+    "Take the smooth blue cup for liquids, swing wide of the smooth white shampoo dispenser, then rest the smooth blue cup for liquids on the coaster made of smooth wood.",
+    "Use an arm, take the medium-sized plastic blue cup, avoid <the medium oval plastic shampoo container> on the way, and set on <the small coaster with grain texture>.",
+    "With an arm, lift the smooth blue drinking cup, avoid the hand-sized shampoo bottle, and place the smooth blue drinking cup on the small coaster with grain texture.",
+    "Use an arm to move the cup with light blue color toward the grainy texture coaster, keeping the cup with light blue color clear of the shampoo bottle with pink cap.",
+    "Carry the medium blue cylindrical cup toward <the grainy texture coaster>, keeping clear of <the shampoo dispenser with flat base>, and set the medium blue cylindrical cup down.",
+    "With an arm, move the cup with light blue color past the white body pink flip cap bottle and place the cup with light blue color on the flat surface gray wooden coaster.",
+    "Carry the medium-sized plastic blue cup toward <the wooden coaster>, keeping the path clear of <the shampoo bottle with pink cap>, then set down.",
+    "With an arm, lift the cup with light blue color, guide it past the glossy white shampoo bottle, and put the cup with light blue color on the coaster with circular shape.",
+    "Use an arm: pick the cylindrical light blue cup up, skirt <the plastic shampoo container>, then place the cylindrical light blue cup onto <the wooden coaster>.",
+    "Lift the smooth blue drinking cup, carry it around the smooth white shampoo dispenser, and place the smooth blue drinking cup squarely on the wooden coaster.",
+    "Lift the medium-sized plastic blue cup, go around the plastic shampoo container, and position the medium-sized plastic blue cup squarely on the round coaster.",
+    "With an arm, lift the smooth blue drinking cup, avoid <the shampoo bottle with pink cap> on the way, and drop the smooth blue drinking cup on <the wooden coaster>.",
+    "Take the cup with light blue color, route it away from the smooth white shampoo dispenser, and set the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Using an arm, carry the medium blue cylindrical cup past <the white body pink flip cap bottle> and place the medium blue cylindrical cup squarely on <the round coaster>.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid the shampoo dispenser with flat base, and set the medium-sized plastic blue cup onto the round coaster with light streaks.",
+    "Move the plastic cup for drinks onto <the light gray streaked wooden coaster> and ensure the path stays away from <the pink-topped shampoo bottle>.",
+    "Using an arm, grasp the rounded base blue cup, skirt the white body pink flip cap bottle, and place the rounded base blue cup atop the flat surface gray wooden coaster.",
+    "Move the medium blue cylindrical cup onto the grainy texture coaster while avoiding the glossy white shampoo bottle, then let go of the medium blue cylindrical cup.",
+    "Pick up the medium-sized plastic blue cup, route it away from the oval-shaped shampoo bottle, then set the medium-sized plastic blue cup on the flat round wooden coaster.",
+    "Move the blue rounded-bottom cup onto the coaster made of smooth wood while avoiding the smooth white shampoo dispenser, then let go of the blue rounded-bottom cup.",
+    "Take the cup for holding liquids in the arm, route around <the shampoo dispenser with flat base>, and set it on <the light gray round grainy coaster>.",
+    "Lift the rounded base blue cup, steer away from <the glossy white shampoo bottle>, then place the rounded base blue cup on <the wooden coaster>.",
+    "Use an arm to bring the rounded base blue cup to the round coaster with light streaks, keeping the rounded base blue cup clear of the white shampoo bottle.",
+    "Use an arm to lift the blue rounded-bottom cup, arc around the pink-topped shampoo bottle, and place the blue rounded-bottom cup atop the light gray streaked wooden coaster.",
+    "Take the smooth blue drinking cup, keep its path away from the shampoo bottle with pink cap, and drop the smooth blue drinking cup on the wooden coaster.",
+    "Move the plastic cup for drinks to the flat round wooden coaster without crossing the glossy white shampoo bottle, then release the plastic cup for drinks.",
+    "Carry the cup with light blue color toward the coaster with circular shape, keeping the cup with light blue color away from the shampoo dispenser with flat base, then set down.",
+    "Pick up the plastic cup for drinks, keep clear of <the pink-topped shampoo bottle>, and drop the plastic cup for drinks onto <the light gray streaked wooden coaster>.",
+    "Use the arm to move the rounded base blue cup past <the shampoo bottle with pink cap> and rest it on <the wooden coaster>.",
+    "Lift the rounded base blue cup, keep clear of the glossy white shampoo bottle, and put the rounded base blue cup down on the flat surface gray wooden coaster.",
+    "Lift the cup with light blue color, route it away from the glossy white shampoo bottle, then put the cup with light blue color squarely on the light gray streaked wooden coaster.",
+    "Use the arm to carry the smooth blue drinking cup around the hand-sized shampoo bottle, then rest the smooth blue drinking cup on the light gray round grainy coaster.",
+    "Lift the smooth blue cup for liquids, guide it around <the medium shampoo bottle>, then put the smooth blue cup for liquids onto <the coaster made of smooth wood>.",
+    "Grab the smooth blue cup for liquids, route around the medium shampoo bottle, then lower the smooth blue cup for liquids onto the flat round wooden coaster.",
+    "Move the medium-sized plastic blue cup to <the flat surface gray wooden coaster> while keeping the medium-sized plastic blue cup away from <the shampoo dispenser with flat base>, then release.",
+    "Use an arm: grab the cylindrical light blue cup, avoid the plastic shampoo container on the way, then set the cylindrical light blue cup on the wooden coaster.",
+    "With an arm, take the blue rounded-bottom cup, avoid the plastic shampoo container, and put the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Use an arm to move the medium-sized plastic blue cup around the plastic shampoo container and rest the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Grab the cup with light blue color, swing it away from <the smooth white shampoo dispenser>, and place the cup with light blue color on <the grainy texture coaster>.",
+    "Take the medium-sized plastic blue cup to the round coaster while skirting the smooth white shampoo dispenser, then release the medium-sized plastic blue cup on the round coaster.",
+    "Lift the rounded base blue cup, pass by the pink-topped shampoo bottle without contact, then place the rounded base blue cup on the grainy texture coaster.",
+    "Pick up the smooth blue drinking cup, guide it past the smooth white shampoo dispenser, and drop the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "Use an arm, pick the cylindrical light blue cup up, pass around the plastic shampoo container, then place the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Take the cylindrical light blue cup, keep its path away from the medium oval plastic shampoo container, and place the cylindrical light blue cup on the coaster with circular shape.",
+    "Secure the medium-sized plastic blue cup, move it around the hand-sized shampoo bottle, and place the medium-sized plastic blue cup squarely on the small coaster with grain texture.",
+    "With an arm, lift the smooth blue cup for liquids, keep it away from the white body pink flip cap bottle, and drop it onto the light gray streaked wooden coaster.",
+    "Using an arm, pick the smooth blue drinking cup up, skirt the white body pink flip cap bottle, and place the smooth blue drinking cup on the smooth round palm-sized coaster.",
+    "Use an arm to move the cup with light blue color to the coaster made of smooth wood, keeping the cup with light blue color from bumping the shampoo bottle with pink cap.",
+    "Lift the plastic cup for drinks, arc around the glossy white shampoo bottle, and place the plastic cup for drinks squarely on the round coaster with light streaks.",
+    "With an arm, pick the medium blue cylindrical cup up, bypass <the shampoo dispenser with flat base>, then place the medium blue cylindrical cup on <the small coaster with grain texture>.",
+    "Pick up the smooth blue drinking cup, avoid the hand-sized shampoo bottle along the way, and place the smooth blue drinking cup on the round coaster with light streaks.",
+    "Move the cup with light blue color to <the light gray round grainy coaster> while keeping its path away from <the white body pink flip cap bottle>.",
+    "Grab the cup with light blue color, guide it away from the shampoo dispenser with flat base, and set the cup with light blue color neatly on the light gray round grainy coaster.",
+    "Use an arm, keep the cup with smooth plastic surface from the plastic shampoo container, and lower the cup with smooth plastic surface onto the light gray round grainy coaster.",
+    "Move the cup for holding liquids to the coaster with circular shape while avoiding the glossy white shampoo bottle, then place the cup for holding liquids on the coaster with circular shape.",
+    "Secure the cylindrical light blue cup, keep its path away from the hand-sized shampoo bottle, and set the cylindrical light blue cup on the flat round wooden coaster.",
+    "Using an arm, carry the plastic cup for drinks around the shampoo dispenser with flat base and place the plastic cup for drinks onto the coaster made of smooth wood.",
+    "Using an arm, move the cup with light blue color to <the light gray streaked wooden coaster> while avoiding <the white shampoo bottle>, then release the cup with light blue color.",
+    "Use an arm: grasp the blue rounded-bottom cup, avoid <the shampoo dispenser with flat base>, and place the blue rounded-bottom cup on <the flat round wooden coaster>.",
+    "Use an arm: take the light blue plastic cup, avoid the shampoo dispenser with flat base during the move, and drop it on the flat surface gray wooden coaster.",
+    "Arm-lift the cylindrical light blue cup, swing around <the shampoo bottle with pink cap>, then place the cylindrical light blue cup onto <the coaster made of smooth wood>."
+  ],
+  "unseen": [
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with Dove logo, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the bottle for holding shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the Dove shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the shampoo bottle with Dove logo, then set the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the bottle for holding shampoo, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with Dove logo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the bottle for holding shampoo>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the Dove shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with Dove logo>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the Dove shampoo bottle, and place it on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the bottle for holding shampoo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the bottle for holding shampoo>, then set the blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with Dove logo>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo bottle with Dove logo, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the Dove shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the Dove shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the bottle for holding shampoo, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the Dove shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with Dove logo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the bottle for holding shampoo>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the bottle for holding shampoo, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with Dove logo>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the Dove shampoo bottle, and place it on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the Dove shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the Dove shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with Dove logo>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the bottle for holding shampoo, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the bottle for holding shampoo, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the Dove shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with Dove logo>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, steer it around the bottle for holding shampoo, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the bottle for holding shampoo, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the bottle for holding shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the bottle for holding shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the bottle for holding shampoo>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the bottle for holding shampoo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the bottle for holding shampoo>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the bottle for holding shampoo, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the Dove shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the Dove shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with Dove logo>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the Dove shampoo bottle, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the Dove shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, guide it around <the Dove shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the Dove shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the Dove shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the bottle for holding shampoo, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the Dove shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the Dove shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the Dove shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with Dove logo, and place it on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the bottle for holding shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with Dove logo>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the Dove shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the bottle for holding shampoo, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the Dove shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the Dove shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with Dove logo>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with Dove logo, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the Dove shampoo bottle, and set it on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the Dove shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the bottle for holding shampoo>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the bottle for holding shampoo, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the bottle for holding shampoo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the shampoo bottle with Dove logo>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with Dove logo, and place it on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the bottle for holding shampoo, then place the blue cup onto the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the Dove shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the bottle for holding shampoo>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the Dove shampoo bottle, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with Dove logo, and place the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the Dove shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the Dove shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the bottle for holding shampoo, and set it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the bottle for holding shampoo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the Dove shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the bottle for holding shampoo, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the bottle for holding shampoo>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the Dove shampoo bottle, and place it on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the Dove shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the bottle for holding shampoo>, then set the small smooth cup on <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with Dove logo>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with Dove logo, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the bottle for holding shampoo, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the bottle for holding shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the Dove shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with Dove logo, then set the handheld round blue cup onto the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode34.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1bf747732e7ff2d247c489b0ebf0235d923b3ad
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the blue rounded-bottom cup to <the flat round wooden coaster> while keeping the blue rounded-bottom cup away from <the pink shampoo container with pump top>, then release.",
+    "Take the cup for holding liquids, keep its path away from the rectangular pink shampoo container, and place the cup for holding liquids on the light gray round grainy coaster.",
+    "Carry the medium blue cylindrical cup toward <the light gray streaked wooden coaster>, skirting <the pink shampoo bottle>, and set the medium blue cylindrical cup down.",
+    "With an arm, move the medium-sized plastic blue cup past the pink bottle with narrow top and place the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Using an arm, carry the smooth blue cup for liquids around the rectangular pink shampoo container and place the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Move the cylindrical light blue cup onto the small coaster with grain texture while avoiding the medium pink bottle for shampoo, then let go of the cylindrical light blue cup.",
+    "Secure the blue rounded-bottom cup, move it around the medium pink bottle for shampoo, and place the blue rounded-bottom cup squarely on the flat round wooden coaster.",
+    "With an arm, lift the cylindrical light blue cup, keep it away from the rectangular pink bottle with dispenser, and drop it onto the round coaster with light streaks.",
+    "Guide the smooth blue drinking cup with the arm around <the rectangular pink bottle with dispenser> and onto <the grainy texture coaster>.",
+    "Lift the smooth blue cup for liquids, route it away from the shampoo bottle with shiny pink body, then put the smooth blue cup for liquids squarely on the round coaster.",
+    "Use an arm to grab the smooth blue cup for liquids, avoid the pink bottle with narrow top, and set the smooth blue cup for liquids down on the coaster made of smooth wood.",
+    "Use an arm: grasp the cup with light blue color, avoid <the pink bottle with narrow top>, and place the cup with light blue color on <the round coaster with light streaks>.",
+    "Grab the cup with light blue color, guide it away from the pink shampoo bottle, and set the cup with light blue color neatly on the round coaster.",
+    "Lift the cup for holding liquids, keep clear of the smooth pink plastic shampoo bottle, and put the cup for holding liquids down on the light gray round grainy coaster.",
+    "Move the cup with smooth plastic surface onto the coaster made of smooth wood while avoiding the pink shampoo bottle, then let go of the cup with smooth plastic surface.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the medium pink bottle for shampoo, and place the cylindrical light blue cup on the wooden coaster.",
+    "Move the cylindrical light blue cup to the light gray streaked wooden coaster while avoiding the shampoo bottle with rectangular shape, then place the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Lift the smooth blue cup for liquids, go around the pink bottle with black dispenser, and position the smooth blue cup for liquids squarely on the coaster made of smooth wood.",
+    "Take the medium-sized plastic blue cup, arc around <the pink shampoo bottle>, and place the medium-sized plastic blue cup neatly on <the light gray streaked wooden coaster>.",
+    "Lift the medium blue cylindrical cup, carry it around the plastic shampoo bottle with black pump, and place the medium blue cylindrical cup squarely on the smooth round palm-sized coaster.",
+    "Grab the smooth blue cup for liquids, swing it away from <the shampoo bottle with shiny pink body>, and place the smooth blue cup for liquids on <the light gray streaked wooden coaster>.",
+    "Use an arm, take the medium blue cylindrical cup past the pink shampoo container with pump top without nearing it, and rest the medium blue cylindrical cup on the small coaster with grain texture.",
+    "Arm-lift the light blue plastic cup, swing around <the plastic shampoo bottle with black pump>, then place the light blue plastic cup onto <the flat surface gray wooden coaster>.",
+    "Use an arm: pick the plastic cup for drinks up, skirt <the smooth pink plastic shampoo bottle>, then place the plastic cup for drinks onto <the coaster made of smooth wood>.",
+    "With an arm, lift the cup with light blue color, guide it past the pink bottle with narrow top, and put the cup with light blue color on the wooden coaster.",
+    "Lift the rounded base blue cup, guide it around <the pink shampoo container with pump top>, then put the rounded base blue cup onto <the round coaster with light streaks>.",
+    "Use an arm to move the blue rounded-bottom cup to the light gray round grainy coaster, keeping the blue rounded-bottom cup from bumping the shampoo bottle with shiny pink body.",
+    "Use an arm to lift the smooth blue cup for liquids, keep distance from <the rectangular pink bottle with dispenser>, and set the smooth blue cup for liquids on <the flat round wooden coaster>.",
+    "Use an arm: grab the smooth blue drinking cup, avoid the plastic shampoo bottle with black pump on the way, then set the smooth blue drinking cup on the flat round wooden coaster.",
+    "Use an arm to move the smooth blue cup for liquids toward the round coaster with light streaks, keeping the smooth blue cup for liquids clear of the medium pink bottle for shampoo.",
+    "Use an arm, keep the smooth blue cup for liquids from the medium pink bottle for shampoo, and lower the smooth blue cup for liquids onto the flat surface gray wooden coaster.",
+    "Move the cylindrical light blue cup onto <the flat surface gray wooden coaster> and ensure the path stays away from <the smooth pink plastic shampoo bottle>.",
+    "Carry the light blue plastic cup toward <the grainy texture coaster>, keeping clear of <the rectangular pink bottle with dispenser>, and set the light blue plastic cup down.",
+    "Use an arm to lift the medium-sized plastic blue cup, arc around the medium pink bottle for shampoo, and place the medium-sized plastic blue cup atop the coaster with circular shape.",
+    "Use an arm to bring the cup for holding liquids to the coaster with circular shape, keeping the cup for holding liquids clear of the pink shampoo container with pump top.",
+    "With an arm, lift the smooth blue drinking cup, avoid <the pink bottle with black dispenser> on the way, and drop the smooth blue drinking cup on <the small coaster with grain texture>.",
+    "With an arm, bring the smooth blue cup for liquids over to <the coaster with circular shape> and keep clear of <the rectangular pink bottle with dispenser>.",
+    "Pick up the blue rounded-bottom cup, route it away from the shampoo bottle with shiny pink body, then set the blue rounded-bottom cup on the round coaster.",
+    "With an arm, lift the light blue plastic cup, avoid the rectangular pink bottle with dispenser, and set the light blue plastic cup onto the smooth round palm-sized coaster.",
+    "Take the cup with light blue color, guide it away from <the smooth pink plastic shampoo bottle>, and place the cup with light blue color squarely on <the light gray round grainy coaster>.",
+    "Lift the smooth blue drinking cup, steer away from <the medium pink bottle for shampoo>, then place the smooth blue drinking cup on <the light gray round grainy coaster>.",
+    "Lift the blue rounded-bottom cup, pass beside <the pink shampoo container with pump top> without contact, then place the blue rounded-bottom cup onto <the light gray round grainy coaster>.",
+    "Pick up the rounded base blue cup, keep its path away from <the pink shampoo container with pump top>, and set the rounded base blue cup on <the small coaster with grain texture>.",
+    "Lift the light blue plastic cup, arc around the shampoo bottle with shiny pink body, and place the light blue plastic cup squarely on the coaster made of smooth wood.",
+    "Use an arm, pick the light blue plastic cup up, pass around the rectangular pink bottle with dispenser, then place the light blue plastic cup on the flat round wooden coaster.",
+    "Take the medium-sized plastic blue cup, keep its path away from the smooth pink plastic shampoo bottle, and drop the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "Take the smooth blue cup for liquids to the light gray round grainy coaster while skirting the pink bottle with black dispenser, then release the smooth blue cup for liquids on the light gray round grainy coaster.",
+    "Take the cylindrical light blue cup, swing wide of the shampoo bottle with shiny pink body, then rest the cylindrical light blue cup on the wooden coaster.",
+    "Move the cup with smooth plastic surface toward the round coaster without passing near the pink bottle with black dispenser, then set it down.",
+    "Carry the smooth blue drinking cup toward the coaster with circular shape, keeping the smooth blue drinking cup away from the pink shampoo container with pump top, then set down.",
+    "Use an arm to move the blue rounded-bottom cup around the pink shampoo container with pump top and rest the blue rounded-bottom cup on the flat round wooden coaster.",
+    "Use an arm: take the smooth blue drinking cup, avoid the smooth pink plastic shampoo bottle during the move, and drop it on the flat round wooden coaster.",
+    "Move the smooth blue cup for liquids to the grainy texture coaster without crossing the pink bottle with black dispenser, then release the smooth blue cup for liquids.",
+    "Move the smooth blue drinking cup to <the flat surface gray wooden coaster> while keeping its path away from <the pink bottle with narrow top>.",
+    "Pick up the smooth blue drinking cup, keep clear of <the hand-sized pink shampoo container>, and drop the smooth blue drinking cup onto <the round coaster>.",
+    "Use the arm to move the light blue plastic cup past <the medium pink bottle for shampoo> and rest it on <the coaster made of smooth wood>.",
+    "Using an arm, grasp the blue rounded-bottom cup, skirt the rectangular pink bottle with dispenser, and place the blue rounded-bottom cup atop the grainy texture coaster.",
+    "Take the medium blue cylindrical cup in the arm, route around <the pink bottle with narrow top>, and set it on <the flat surface gray wooden coaster>.",
+    "Using an arm, move the smooth blue drinking cup to <the round coaster with light streaks> while avoiding <the rectangular pink bottle with dispenser>, then release the smooth blue drinking cup.",
+    "Grab the light blue plastic cup, route around the pink shampoo bottle, then lower the light blue plastic cup onto the flat round wooden coaster.",
+    "With an arm, lift the smooth blue cup for liquids, route past <the rectangular pink bottle with dispenser>, and drop the smooth blue cup for liquids onto <the round coaster with light streaks>.",
+    "With an arm, take the plastic cup for drinks, avoid the hand-sized pink shampoo container, and put the plastic cup for drinks on the grainy texture coaster.",
+    "Slide the cup with smooth plastic surface over to <the flat surface gray wooden coaster> without passing near <the shampoo bottle with shiny pink body>.",
+    "Take the light blue plastic cup, route it away from the pink bottle with narrow top, and set the light blue plastic cup onto the flat round wooden coaster.",
+    "With an arm, pick the blue rounded-bottom cup up, bypass <the rectangular pink shampoo container>, then place the blue rounded-bottom cup on <the small coaster with grain texture>.",
+    "Slide the cup with light blue color toward the small coaster with grain texture, detouring around the rectangular pink shampoo container, then set the cup with light blue color down.",
+    "Using an arm, pick the blue rounded-bottom cup up, skirt the shampoo bottle with shiny pink body, and place the blue rounded-bottom cup on the flat round wooden coaster.",
+    "Use the arm to carry the smooth blue drinking cup around the pink shampoo container with pump top, then rest the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "With an arm, lift the light blue plastic cup, avoid the smooth pink plastic shampoo bottle, and place the light blue plastic cup on the light gray round grainy coaster.",
+    "Secure the plastic cup for drinks, keep its path away from the smooth pink plastic shampoo bottle, and set the plastic cup for drinks on the coaster made of smooth wood.",
+    "Use an arm, take the medium blue cylindrical cup, avoid <the rectangular pink bottle with dispenser> on the way, and set on <the light gray round grainy coaster>.",
+    "Use an arm to take the smooth blue drinking cup around <the rectangular pink bottle with dispenser> and place the smooth blue drinking cup on <the grainy texture coaster>.",
+    "Pick up the smooth blue drinking cup, avoid the plastic shampoo bottle with black pump along the way, and place the smooth blue drinking cup on the coaster with circular shape.",
+    "Lift the cup with light blue color, pass by the smooth pink plastic shampoo bottle without contact, then place the cup with light blue color on the wooden coaster.",
+    "Pick up the medium blue cylindrical cup, guide it past the rectangular pink bottle with dispenser, and drop the medium blue cylindrical cup on the flat round wooden coaster.",
+    "Carry the medium blue cylindrical cup toward <the grainy texture coaster>, keeping the path clear of <the shampoo bottle with shiny pink body>, then set down.",
+    "Use the arm to lift the smooth blue cup for liquids, pass the shampoo bottle with rectangular shape, and place the smooth blue cup for liquids on the coaster made of smooth wood.",
+    "Pick the rounded base blue cup up, route it away from the plastic shampoo bottle with black pump, and drop the rounded base blue cup onto the light gray streaked wooden coaster.",
+    "Using an arm, carry the cup for holding liquids past <the shampoo bottle with rectangular shape> and place the cup for holding liquids squarely on <the coaster made of smooth wood>.",
+    "Lift the light blue plastic cup, guide it past the plastic shampoo bottle with black pump, and rest the light blue plastic cup on the wooden coaster.",
+    "Move the smooth blue drinking cup to <the coaster made of smooth wood> while keeping the smooth blue drinking cup away from <the hand-sized pink shampoo container>, then release.",
+    "Take the medium blue cylindrical cup, keep its path away from the smooth pink plastic shampoo bottle, and place the medium blue cylindrical cup on the coaster made of smooth wood.",
+    "Carry the medium blue cylindrical cup toward <the grainy texture coaster>, skirting <the smooth pink plastic shampoo bottle>, and set the medium blue cylindrical cup down.",
+    "With an arm, move the cup for holding liquids past the pink bottle with narrow top and place the cup for holding liquids on the round coaster.",
+    "Using an arm, carry the cup with smooth plastic surface around the plastic shampoo bottle with black pump and place the cup with smooth plastic surface onto the flat surface gray wooden coaster.",
+    "Move the light blue plastic cup onto the round coaster with light streaks while avoiding the smooth pink plastic shampoo bottle, then let go of the light blue plastic cup.",
+    "Secure the smooth blue drinking cup, move it around the rectangular pink shampoo container, and place the smooth blue drinking cup squarely on the light gray streaked wooden coaster.",
+    "With an arm, lift the plastic cup for drinks, keep it away from the medium pink bottle for shampoo, and drop it onto the flat round wooden coaster.",
+    "Guide the cup with light blue color with the arm around <the plastic shampoo bottle with black pump> and onto <the round coaster>.",
+    "Lift the medium blue cylindrical cup, route it away from the hand-sized pink shampoo container, then put the medium blue cylindrical cup squarely on the smooth round palm-sized coaster.",
+    "Use an arm to grab the medium blue cylindrical cup, avoid the pink shampoo container with pump top, and set the medium blue cylindrical cup down on the flat round wooden coaster.",
+    "Use an arm: grasp the smooth blue drinking cup, avoid <the hand-sized pink shampoo container>, and place the smooth blue drinking cup on <the wooden coaster>.",
+    "Grab the cup for holding liquids, guide it away from the smooth pink plastic shampoo bottle, and set the cup for holding liquids neatly on the light gray round grainy coaster.",
+    "Lift the cup for holding liquids, keep clear of the pink bottle with black dispenser, and put the cup for holding liquids down on the wooden coaster.",
+    "Move the cup with smooth plastic surface onto the light gray streaked wooden coaster while avoiding the smooth pink plastic shampoo bottle, then let go of the cup with smooth plastic surface.",
+    "Using an arm, pick the blue rounded-bottom cup up, skirt the pink shampoo container with pump top, and place the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Move the cylindrical light blue cup to the coaster with circular shape while avoiding the hand-sized pink shampoo container, then place the cylindrical light blue cup on the coaster with circular shape.",
+    "Lift the light blue plastic cup, go around the plastic shampoo bottle with black pump, and position the light blue plastic cup squarely on the smooth round palm-sized coaster.",
+    "Take the smooth blue cup for liquids, arc around <the hand-sized pink shampoo container>, and place the smooth blue cup for liquids neatly on <the round coaster>.",
+    "Lift the rounded base blue cup, carry it around the smooth pink plastic shampoo bottle, and place the rounded base blue cup squarely on the small coaster with grain texture."
+  ],
+  "unseen": [
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with black pump, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with black pump>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with black pump, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the glossy pink shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with black pump>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with black pump, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the plastic pink shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with black pump, and place the handheld round blue cup on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the plastic pink shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the plastic pink shampoo bottle, and set it on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with black pump>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with black pump, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the glossy pink shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with black pump, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo bottle with black pump>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the glossy pink shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the glossy pink shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the glossy pink shampoo bottle, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the glossy pink shampoo bottle>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the plastic pink shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the glossy pink shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with black pump, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with black pump, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the glossy pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the glossy pink shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with black pump, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the plastic pink shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the plastic pink shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the glossy pink shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the plastic pink shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the glossy pink shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the plastic pink shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the plastic pink shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the glossy pink shampoo bottle>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the plastic pink shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the plastic pink shampoo bottle, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with black pump, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the glossy pink shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with black pump, and set the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with black pump>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the glossy pink shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the plastic pink shampoo bottle>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with black pump>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the plastic pink shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the plastic pink shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the plastic pink shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with black pump, then place the blue cup onto the light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo bottle with black pump, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the glossy pink shampoo bottle, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the plastic pink shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with black pump, and set it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the glossy pink shampoo bottle>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with black pump, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with black pump, then place the blue cup onto the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with black pump>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the plastic pink shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo bottle with black pump>, and place the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with black pump>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the plastic pink shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with black pump>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the plastic pink shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the glossy pink shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with black pump, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the plastic pink shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle with black pump, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with black pump>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with black pump, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the plastic pink shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the plastic pink shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the plastic pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the glossy pink shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the glossy pink shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the shampoo bottle with black pump, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the plastic pink shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, guide it around <the plastic pink shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, carry it around the shampoo bottle with black pump, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the plastic pink shampoo bottle, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with black pump, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the plastic pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the plastic pink shampoo bottle>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the plastic pink shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with black pump>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with black pump, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the glossy pink shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the plastic pink shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the plastic pink shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, steer it around the glossy pink shampoo bottle, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the plastic pink shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode35.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9d2818ac1505a9e7e96efa229cebbecbd0c1813
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Slide the rounded base blue cup over to <the coaster with circular shape> without passing near <the medium oval plastic shampoo container>.",
+    "Pick up the rounded base blue cup, avoid the shampoo bottle with pink cap along the way, and place the rounded base blue cup on the coaster with circular shape.",
+    "With an arm, lift the cup for holding liquids, route past <the pink-topped shampoo bottle>, and drop the cup for holding liquids onto <the wooden coaster>.",
+    "Secure the cup with smooth plastic surface, keep its path away from the glossy white shampoo bottle, and set the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Use an arm: pick the cup with smooth plastic surface up, skirt <the oval-shaped shampoo bottle>, then place the cup with smooth plastic surface onto <the flat round wooden coaster>.",
+    "Using an arm, carry the light blue plastic cup around the medium oval plastic shampoo container and place the light blue plastic cup onto the light gray streaked wooden coaster.",
+    "Use an arm: take the smooth blue drinking cup, avoid the shampoo dispenser with flat base during the move, and drop it on the wooden coaster.",
+    "Use an arm to grab the light blue plastic cup, avoid the medium oval plastic shampoo container, and set the light blue plastic cup down on the coaster made of smooth wood.",
+    "Take the cylindrical light blue cup, keep its path away from the glossy white shampoo bottle, and place the cylindrical light blue cup on the coaster made of smooth wood.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid the medium shampoo bottle, and set the medium-sized plastic blue cup onto the round coaster with light streaks.",
+    "Use an arm: grasp the smooth blue cup for liquids, avoid <the pink-topped shampoo bottle>, and place the smooth blue cup for liquids on <the flat round wooden coaster>.",
+    "Use an arm, keep the smooth blue drinking cup from the glossy white shampoo bottle, and lower the smooth blue drinking cup onto the small coaster with grain texture.",
+    "Take the cylindrical light blue cup, swing wide of the oval-shaped shampoo bottle, then rest the cylindrical light blue cup on the round coaster with light streaks.",
+    "Move the cup with light blue color onto the small coaster with grain texture while avoiding the medium shampoo bottle, then let go of the cup with light blue color.",
+    "Lift the cup for holding liquids, arc around the smooth white shampoo dispenser, and place the cup for holding liquids squarely on the coaster with circular shape.",
+    "Move the cup with smooth plastic surface onto <the light gray streaked wooden coaster> and ensure the path stays away from <the white body pink flip cap bottle>.",
+    "Move the cup for holding liquids to the flat round wooden coaster without crossing the glossy white shampoo bottle, then release the cup for holding liquids.",
+    "Pick up the light blue plastic cup, guide it past the medium oval plastic shampoo container, and drop the light blue plastic cup on the wooden coaster.",
+    "Use an arm, pick the smooth blue drinking cup up, pass around the hand-sized shampoo bottle, then place the smooth blue drinking cup on the flat surface gray wooden coaster.",
+    "With an arm, pick the rounded base blue cup up, bypass <the smooth white shampoo dispenser>, then place the rounded base blue cup on <the wooden coaster>.",
+    "Use an arm to move the medium blue cylindrical cup toward the round coaster with light streaks, keeping the medium blue cylindrical cup clear of the medium shampoo bottle.",
+    "Guide the blue rounded-bottom cup with the arm around <the plastic shampoo container> and onto <the flat round wooden coaster>.",
+    "Use an arm, take the blue rounded-bottom cup past the white shampoo bottle without nearing it, and rest the blue rounded-bottom cup on the round coaster.",
+    "Use an arm: grab the cup with light blue color, avoid the glossy white shampoo bottle on the way, then set the cup with light blue color on the small coaster with grain texture.",
+    "Move the blue rounded-bottom cup to <the round coaster> while keeping the blue rounded-bottom cup away from <the hand-sized shampoo bottle>, then release.",
+    "Lift the medium blue cylindrical cup, guide it around <the shampoo dispenser with flat base>, then put the medium blue cylindrical cup onto <the flat surface gray wooden coaster>.",
+    "Carry the medium blue cylindrical cup toward the light gray streaked wooden coaster, keeping the medium blue cylindrical cup away from the glossy white shampoo bottle, then set down.",
+    "Use the arm to lift the cup with smooth plastic surface, pass the medium shampoo bottle, and place the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Use an arm, take the blue rounded-bottom cup, avoid <the glossy white shampoo bottle> on the way, and set on <the flat surface gray wooden coaster>.",
+    "Use an arm to move the medium-sized plastic blue cup to the flat surface gray wooden coaster, keeping the medium-sized plastic blue cup from bumping the smooth white shampoo dispenser.",
+    "Using an arm, move the cup with light blue color to <the coaster made of smooth wood> while avoiding <the oval-shaped shampoo bottle>, then release the cup with light blue color.",
+    "Use an arm to lift the medium-sized plastic blue cup, keep distance from <the glossy white shampoo bottle>, and set the medium-sized plastic blue cup on <the coaster with circular shape>.",
+    "Pick up the cup with light blue color, keep clear of <the white body pink flip cap bottle>, and drop the cup with light blue color onto <the smooth round palm-sized coaster>.",
+    "Using an arm, grasp the rounded base blue cup, skirt the pink-topped shampoo bottle, and place the rounded base blue cup atop the light gray round grainy coaster.",
+    "Use the arm to carry the smooth blue drinking cup around the glossy white shampoo bottle, then rest the smooth blue drinking cup on the flat surface gray wooden coaster.",
+    "Take the cup for holding liquids, keep its path away from the medium shampoo bottle, and drop the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Move the light blue plastic cup to the grainy texture coaster while avoiding the medium shampoo bottle, then place the light blue plastic cup on the grainy texture coaster.",
+    "Lift the plastic cup for drinks, carry it around the shampoo bottle with pink cap, and place the plastic cup for drinks squarely on the light gray streaked wooden coaster.",
+    "Carry the smooth blue cup for liquids toward <the flat round wooden coaster>, keeping clear of <the oval-shaped shampoo bottle>, and set the smooth blue cup for liquids down.",
+    "Use an arm to take the cylindrical light blue cup around <the shampoo dispenser with flat base> and place the cylindrical light blue cup on <the wooden coaster>.",
+    "Arm-lift the rounded base blue cup, swing around <the medium shampoo bottle>, then place the rounded base blue cup onto <the smooth round palm-sized coaster>.",
+    "Use an arm to bring the smooth blue drinking cup to the light gray streaked wooden coaster, keeping the smooth blue drinking cup clear of the shampoo dispenser with flat base.",
+    "Lift the medium-sized plastic blue cup, go around the medium shampoo bottle, and position the medium-sized plastic blue cup squarely on the grainy texture coaster.",
+    "Take the rounded base blue cup, guide it away from <the glossy white shampoo bottle>, and place the rounded base blue cup squarely on <the round coaster>.",
+    "Use an arm to move the smooth blue drinking cup around the plastic shampoo container and rest the smooth blue drinking cup on the flat surface gray wooden coaster.",
+    "Move the plastic cup for drinks to <the light gray streaked wooden coaster> while keeping its path away from <the plastic shampoo container>.",
+    "With an arm, lift the medium blue cylindrical cup, avoid the hand-sized shampoo bottle, and place the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Move the smooth blue cup for liquids onto the smooth round palm-sized coaster while avoiding the pink-topped shampoo bottle, then let go of the smooth blue cup for liquids.",
+    "Lift the medium-sized plastic blue cup, pass beside <the plastic shampoo container> without contact, then place the medium-sized plastic blue cup onto <the round coaster>.",
+    "With an arm, bring the cup with light blue color over to <the coaster with circular shape> and keep clear of <the glossy white shampoo bottle>.",
+    "Use the arm to move the smooth blue cup for liquids past <the smooth white shampoo dispenser> and rest it on <the coaster made of smooth wood>.",
+    "Grab the medium blue cylindrical cup, guide it away from the white shampoo bottle, and set the medium blue cylindrical cup neatly on the round coaster.",
+    "Take the light blue plastic cup, arc around <the oval-shaped shampoo bottle>, and place the light blue plastic cup neatly on <the wooden coaster>.",
+    "Grab the medium blue cylindrical cup, route around the hand-sized shampoo bottle, then lower the medium blue cylindrical cup onto the flat round wooden coaster.",
+    "Lift the plastic cup for drinks, guide it past the white body pink flip cap bottle, and rest the plastic cup for drinks on the smooth round palm-sized coaster.",
+    "Lift the cylindrical light blue cup, keep clear of the pink-topped shampoo bottle, and put the cylindrical light blue cup down on the round coaster with light streaks.",
+    "Use an arm to lift the medium blue cylindrical cup, arc around the shampoo bottle with pink cap, and place the medium blue cylindrical cup atop the coaster made of smooth wood.",
+    "Carry the medium blue cylindrical cup toward <the light gray streaked wooden coaster>, skirting <the oval-shaped shampoo bottle>, and set the medium blue cylindrical cup down.",
+    "Slide the cylindrical light blue cup toward the small coaster with grain texture, detouring around the pink-topped shampoo bottle, then set the cylindrical light blue cup down.",
+    "Take the smooth blue drinking cup, route it away from the glossy white shampoo bottle, and set the smooth blue drinking cup onto the light gray round grainy coaster.",
+    "With an arm, take the plastic cup for drinks, avoid the pink-topped shampoo bottle, and put the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Grab the smooth blue drinking cup, swing it away from <the plastic shampoo container>, and place the smooth blue drinking cup on <the flat surface gray wooden coaster>.",
+    "With an arm, lift the light blue plastic cup, avoid <the oval-shaped shampoo bottle> on the way, and drop the light blue plastic cup on <the wooden coaster>.",
+    "Take the medium blue cylindrical cup in the arm, route around <the white body pink flip cap bottle>, and set it on <the round coaster>.",
+    "With an arm, lift the rounded base blue cup, keep it away from the smooth white shampoo dispenser, and drop it onto the round coaster.",
+    "Pick up the blue rounded-bottom cup, keep its path away from <the shampoo bottle with pink cap>, and set the blue rounded-bottom cup on <the round coaster with light streaks>.",
+    "Lift the rounded base blue cup, steer away from <the glossy white shampoo bottle>, then place the rounded base blue cup on <the small coaster with grain texture>.",
+    "Lift the cup with smooth plastic surface, route it away from the medium oval plastic shampoo container, then put the cup with smooth plastic surface squarely on the smooth round palm-sized coaster.",
+    "With an arm, lift the smooth blue cup for liquids, guide it past the pink-topped shampoo bottle, and put the smooth blue cup for liquids on the light gray round grainy coaster.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the medium shampoo bottle, and place the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Pick the rounded base blue cup up, route it away from the white shampoo bottle, and drop the rounded base blue cup onto the small coaster with grain texture.",
+    "Using an arm, carry the blue rounded-bottom cup past <the plastic shampoo container> and place the blue rounded-bottom cup squarely on <the light gray streaked wooden coaster>.",
+    "Move the cup for holding liquids toward the smooth round palm-sized coaster without passing near the plastic shampoo container, then set it down.",
+    "Secure the light blue plastic cup, move it around the plastic shampoo container, and place the light blue plastic cup squarely on the flat surface gray wooden coaster.",
+    "Carry the light blue plastic cup toward <the coaster with circular shape>, keeping the path clear of <the shampoo dispenser with flat base>, then set down.",
+    "With an arm, move the smooth blue cup for liquids past the smooth white shampoo dispenser and place the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Lift the cup for holding liquids, pass by the white body pink flip cap bottle without contact, then place the cup for holding liquids on the small coaster with grain texture.",
+    "Take the medium-sized plastic blue cup to the grainy texture coaster while skirting the plastic shampoo container, then release the medium-sized plastic blue cup on the grainy texture coaster.",
+    "Using an arm, pick the blue rounded-bottom cup up, skirt the medium oval plastic shampoo container, and place the blue rounded-bottom cup on the small coaster with grain texture.",
+    "Pick up the smooth blue cup for liquids, route it away from the shampoo bottle with pink cap, then set the smooth blue cup for liquids on the round coaster with light streaks.",
+    "Slide the cylindrical light blue cup over to <the coaster made of smooth wood> without passing near <the pink-topped shampoo bottle>.",
+    "Pick up the plastic cup for drinks, avoid the medium shampoo bottle along the way, and place the plastic cup for drinks on the round coaster.",
+    "With an arm, lift the plastic cup for drinks, route past <the white shampoo bottle>, and drop the plastic cup for drinks onto <the round coaster>.",
+    "Secure the medium-sized plastic blue cup, keep its path away from the shampoo bottle with pink cap, and set the medium-sized plastic blue cup on the light gray streaked wooden coaster.",
+    "Use an arm: pick the rounded base blue cup up, skirt <the plastic shampoo container>, then place the rounded base blue cup onto <the flat round wooden coaster>.",
+    "Using an arm, carry the cup with smooth plastic surface around the smooth white shampoo dispenser and place the cup with smooth plastic surface onto the flat surface gray wooden coaster.",
+    "Use an arm: take the cup for holding liquids, avoid the plastic shampoo container during the move, and drop it on the coaster with circular shape.",
+    "Use an arm to grab the plastic cup for drinks, avoid the smooth white shampoo dispenser, and set the plastic cup for drinks down on the small coaster with grain texture.",
+    "Take the light blue plastic cup, keep its path away from the medium shampoo bottle, and place the light blue plastic cup on the grainy texture coaster.",
+    "With an arm, lift the smooth blue drinking cup, avoid the glossy white shampoo bottle, and set the smooth blue drinking cup onto the coaster made of smooth wood.",
+    "Use an arm: grasp the smooth blue cup for liquids, avoid <the plastic shampoo container>, and place the smooth blue cup for liquids on <the round coaster>.",
+    "Use an arm, keep the cup with light blue color from the hand-sized shampoo bottle, and lower the cup with light blue color onto the grainy texture coaster.",
+    "Take the cylindrical light blue cup, swing wide of the shampoo bottle with pink cap, then rest the cylindrical light blue cup on the small coaster with grain texture.",
+    "Move the medium-sized plastic blue cup onto the coaster made of smooth wood while avoiding the pink-topped shampoo bottle, then let go of the medium-sized plastic blue cup.",
+    "Lift the cup with smooth plastic surface, arc around the oval-shaped shampoo bottle, and place the cup with smooth plastic surface squarely on the light gray streaked wooden coaster.",
+    "Move the cup with light blue color onto <the smooth round palm-sized coaster> and ensure the path stays away from <the medium shampoo bottle>.",
+    "Move the blue rounded-bottom cup to the round coaster without crossing the shampoo dispenser with flat base, then release the blue rounded-bottom cup.",
+    "Pick up the light blue plastic cup, guide it past the glossy white shampoo bottle, and drop the light blue plastic cup on the round coaster.",
+    "Use an arm, pick the blue rounded-bottom cup up, pass around the white body pink flip cap bottle, then place the blue rounded-bottom cup on the round coaster.",
+    "With an arm, pick the cup for holding liquids up, bypass <the pink-topped shampoo bottle>, then place the cup for holding liquids on <the smooth round palm-sized coaster>."
+  ],
+  "unseen": [
+    "Grab the blue cup, keep it clear of the bottle for holding shampoo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with Dove logo, and set it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the Dove shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the Dove shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with Dove logo>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the Dove shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the Dove shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the Dove shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo bottle with Dove logo>, then place the blue cup onto <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the Dove shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with Dove logo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the Dove shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the bottle for holding shampoo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the Dove shampoo bottle, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the Dove shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with Dove logo>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the Dove shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the bottle for holding shampoo, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the Dove shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with Dove logo>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the bottle for holding shampoo, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the Dove shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the Dove shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the Dove shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the Dove shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the bottle for holding shampoo, then set the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the Dove shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the bottle for holding shampoo, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the Dove shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the Dove shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the bottle for holding shampoo, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the bottle for holding shampoo, and set it on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the bottle for holding shampoo>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the Dove shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the bottle for holding shampoo>, and set the blue cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with Dove logo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the bottle for holding shampoo, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the Dove shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the bottle for holding shampoo>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the Dove shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the Dove shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the Dove shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with Dove logo, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the Dove shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the bottle for holding shampoo>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the Dove shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the Dove shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the Dove shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the Dove shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the bottle for holding shampoo>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the bottle for holding shampoo, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the Dove shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the Dove shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with Dove logo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with Dove logo, then set the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the bottle for holding shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the Dove shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the bottle for holding shampoo>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with Dove logo>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the Dove shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the Dove shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the bottle for holding shampoo>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with Dove logo>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the Dove shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with Dove logo, and place it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the bottle for holding shampoo>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the bottle for holding shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the Dove shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the Dove shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the bottle for holding shampoo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the Dove shampoo bottle, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the Dove shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the bottle for holding shampoo>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the bottle for holding shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the bottle for holding shampoo, and set it on the light gray coaster.",
+    "Grab the blue cup, guide it around <the bottle for holding shampoo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the bottle for holding shampoo, and set the blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the bottle for holding shampoo>, and set the small smooth cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the Dove shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the bottle for holding shampoo, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the Dove shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the Dove shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the Dove shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the bottle for holding shampoo, and set the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with Dove logo, then set the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the bottle for holding shampoo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with Dove logo, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the bottle for holding shampoo>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with Dove logo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with Dove logo, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the bottle for holding shampoo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with Dove logo, and set the small smooth cup on the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode36.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ecc5ba1fe954e9b044760ea0cafc7c75f5442bd
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using an arm, move the cup with light blue color to <the light gray round grainy coaster> while avoiding <the plastic shampoo bottle with smooth surface>, then release the cup with light blue color.",
+    "Carry the smooth blue drinking cup toward <the small coaster with grain texture>, keeping clear of <the white shampoo bottle>, and set the smooth blue drinking cup down.",
+    "Slide the medium-sized plastic blue cup over to <the coaster with circular shape> without passing near <the shampoo bottle>.",
+    "With an arm, lift the rounded base blue cup, avoid <the white shampoo bottle> on the way, and drop the rounded base blue cup on <the smooth round palm-sized coaster>.",
+    "Grab the smooth blue drinking cup, route around the shampoo bottle with rectangular base, then lower the smooth blue drinking cup onto the coaster made of smooth wood.",
+    "Use an arm: grasp the cup with smooth plastic surface, avoid <the shampoo bottle>, and place the cup with smooth plastic surface on <the small coaster with grain texture>.",
+    "Use an arm to move the rounded base blue cup around the smooth shampoo container and rest the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Lift the light blue plastic cup, steer away from <the plastic shampoo bottle with smooth surface>, then place the light blue plastic cup on <the flat surface gray wooden coaster>.",
+    "Using an arm, grasp the smooth blue drinking cup, skirt the shampoo bottle with rectangular base, and place the smooth blue drinking cup atop the round coaster.",
+    "Take the blue rounded-bottom cup to the flat round wooden coaster while skirting the hand-held shampoo bottle, then release the blue rounded-bottom cup on the flat round wooden coaster.",
+    "With an arm, lift the light blue plastic cup, keep it away from the medium shampoo container, and drop it onto the coaster made of smooth wood.",
+    "Arm-lift the medium blue cylindrical cup, swing around <the bottle for shampoo with glossy finish>, then place the medium blue cylindrical cup onto <the light gray streaked wooden coaster>.",
+    "Slide the smooth blue drinking cup toward the wooden coaster, detouring around the white bottle with golden accents, then set the smooth blue drinking cup down.",
+    "With an arm, lift the smooth blue cup for liquids, avoid the white shampoo bottle with golden top, and place the smooth blue cup for liquids on the light gray round grainy coaster.",
+    "Use an arm: pick the blue rounded-bottom cup up, skirt <the bottle with yellow cap>, then place the blue rounded-bottom cup onto <the coaster with circular shape>.",
+    "Use an arm to bring the medium blue cylindrical cup to the flat surface gray wooden coaster, keeping the medium blue cylindrical cup clear of the bottle for shampoo with glossy finish.",
+    "Use an arm to move the rounded base blue cup toward the coaster made of smooth wood, keeping the rounded base blue cup clear of the medium shampoo container.",
+    "Lift the cup with smooth plastic surface, guide it past the white bottle with golden accents, and rest the cup with smooth plastic surface on the round coaster.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the plastic shampoo bottle with smooth surface, and place the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Use an arm to grab the blue rounded-bottom cup, avoid the bottle with yellow cap, and set the blue rounded-bottom cup down on the flat surface gray wooden coaster.",
+    "Pick up the cup with smooth plastic surface, route it away from the medium shampoo container, then set the cup with smooth plastic surface on the small coaster with grain texture.",
+    "Using an arm, carry the smooth blue cup for liquids around the hand-held shampoo bottle and place the smooth blue cup for liquids onto the round coaster.",
+    "Lift the light blue plastic cup, route it away from the smooth shampoo container, then put the light blue plastic cup squarely on the light gray round grainy coaster.",
+    "Move the rounded base blue cup onto the wooden coaster while avoiding the rectangular shampoo bottle with rounded top, then let go of the rounded base blue cup.",
+    "Use the arm to carry the rounded base blue cup around the bottle for shampoo with glossy finish, then rest the rounded base blue cup on the flat round wooden coaster.",
+    "Take the cylindrical light blue cup in the arm, route around <the bottle with yellow cap>, and set it on <the light gray round grainy coaster>.",
+    "Take the cup for holding liquids, keep its path away from the bottle for shampoo with glossy finish, and place the cup for holding liquids on the grainy texture coaster.",
+    "Use an arm to lift the blue rounded-bottom cup, keep distance from <the plastic shampoo bottle with smooth surface>, and set the blue rounded-bottom cup on <the round coaster with light streaks>.",
+    "With an arm, lift the light blue plastic cup, route past <the white shampoo bottle>, and drop the light blue plastic cup onto <the round coaster>.",
+    "Pick the cylindrical light blue cup up, route it away from the white bottle with golden accents, and drop the cylindrical light blue cup onto the flat round wooden coaster.",
+    "Use an arm: grab the cup with light blue color, avoid the shampoo bottle with rectangular base on the way, then set the cup with light blue color on the small coaster with grain texture.",
+    "Grab the blue rounded-bottom cup, guide it away from the shampoo bottle with rectangular base, and set the blue rounded-bottom cup neatly on the light gray streaked wooden coaster.",
+    "Using an arm, carry the light blue plastic cup past <the white shampoo bottle with golden top> and place the light blue plastic cup squarely on <the flat surface gray wooden coaster>.",
+    "Use the arm to lift the medium blue cylindrical cup, pass the bottle for shampoo with glossy finish, and place the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Take the cup for holding liquids, arc around <the medium shampoo container>, and place the cup for holding liquids neatly on <the smooth round palm-sized coaster>.",
+    "Use an arm to take the smooth blue cup for liquids around <the white bottle with golden accents> and place the smooth blue cup for liquids on <the flat surface gray wooden coaster>.",
+    "Use an arm, keep the cup with light blue color from the white shampoo bottle with golden top, and lower the cup with light blue color onto the coaster made of smooth wood.",
+    "Pick up the medium-sized plastic blue cup, guide it past the bottle for shampoo with glossy finish, and drop the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "Take the smooth blue drinking cup, keep its path away from the white shampoo bottle with golden top, and drop the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "Take the blue rounded-bottom cup, guide it away from <the rectangular shampoo bottle with rounded top>, and place the blue rounded-bottom cup squarely on <the smooth round palm-sized coaster>.",
+    "Pick up the rounded base blue cup, avoid the white shampoo bottle along the way, and place the rounded base blue cup on the small coaster with grain texture.",
+    "Guide the smooth blue drinking cup with the arm around <the shampoo bottle with rectangular base> and onto <the light gray round grainy coaster>.",
+    "Use an arm, pick the blue rounded-bottom cup up, pass around the hand-held shampoo bottle, then place the blue rounded-bottom cup on the flat round wooden coaster.",
+    "Carry the smooth blue drinking cup toward <the flat surface gray wooden coaster>, keeping the path clear of <the shampoo bottle>, then set down.",
+    "Secure the smooth blue cup for liquids, keep its path away from the bottle for shampoo with glossy finish, and set the smooth blue cup for liquids on the flat round wooden coaster.",
+    "With an arm, lift the cup with smooth plastic surface, guide it past the bottle for shampoo with glossy finish, and put the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Lift the cup with light blue color, arc around the rectangular shampoo bottle with rounded top, and place the cup with light blue color squarely on the small coaster with grain texture.",
+    "Grab the blue rounded-bottom cup, swing it away from <the white shampoo bottle with golden top>, and place the blue rounded-bottom cup on <the round coaster>.",
+    "With an arm, move the cup with smooth plastic surface past the medium shampoo container and place the cup with smooth plastic surface on the grainy texture coaster.",
+    "Secure the blue rounded-bottom cup, move it around the plastic shampoo bottle with smooth surface, and place the blue rounded-bottom cup squarely on the round coaster with light streaks.",
+    "Use the arm to move the smooth blue cup for liquids past <the plastic shampoo bottle with smooth surface> and rest it on <the flat round wooden coaster>.",
+    "Move the smooth blue cup for liquids to the coaster made of smooth wood without crossing the hand-held shampoo bottle, then release the smooth blue cup for liquids.",
+    "Move the cup for holding liquids to the coaster made of smooth wood while avoiding the shampoo bottle, then place the cup for holding liquids on the coaster made of smooth wood.",
+    "Move the cup for holding liquids onto <the round coaster> and ensure the path stays away from <the white shampoo bottle with golden top>.",
+    "Lift the blue rounded-bottom cup, pass by the plastic shampoo bottle with smooth surface without contact, then place the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Use an arm, take the cup with smooth plastic surface, avoid <the hand-held shampoo bottle> on the way, and set on <the flat surface gray wooden coaster>.",
+    "With an arm, pick the cylindrical light blue cup up, bypass <the shampoo bottle>, then place the cylindrical light blue cup on <the smooth round palm-sized coaster>.",
+    "With an arm, bring the medium-sized plastic blue cup over to <the grainy texture coaster> and keep clear of <the bottle for shampoo with glossy finish>.",
+    "With an arm, take the medium-sized plastic blue cup, avoid the white shampoo bottle, and put the medium-sized plastic blue cup on the grainy texture coaster.",
+    "Move the medium blue cylindrical cup onto the coaster made of smooth wood while avoiding the plastic shampoo bottle with smooth surface, then let go of the medium blue cylindrical cup.",
+    "Carry the smooth blue drinking cup toward the flat surface gray wooden coaster, keeping the smooth blue drinking cup away from the rectangular shampoo bottle with rounded top, then set down.",
+    "Move the cup with smooth plastic surface to <the grainy texture coaster> while keeping its path away from <the bottle with yellow cap>.",
+    "Pick up the smooth blue cup for liquids, keep clear of <the bottle with yellow cap>, and drop the smooth blue cup for liquids onto <the round coaster>.",
+    "Take the rounded base blue cup, route it away from the medium shampoo container, and set the rounded base blue cup onto the grainy texture coaster.",
+    "Move the cup with light blue color to <the round coaster with light streaks> while keeping the cup with light blue color away from <the white shampoo bottle with golden top>, then release.",
+    "Carry the cup with smooth plastic surface toward <the coaster with circular shape>, skirting <the white bottle with golden accents>, and set the cup with smooth plastic surface down.",
+    "Pick up the cup with light blue color, keep its path away from <the white bottle with golden accents>, and set the cup with light blue color on <the flat surface gray wooden coaster>.",
+    "With an arm, lift the cup for holding liquids, avoid the white bottle with golden accents, and set the cup for holding liquids onto the wooden coaster.",
+    "Lift the cup with light blue color, carry it around the bottle with yellow cap, and place the cup with light blue color squarely on the coaster made of smooth wood.",
+    "Use an arm to lift the smooth blue cup for liquids, arc around the smooth shampoo container, and place the smooth blue cup for liquids atop the light gray streaked wooden coaster.",
+    "Use an arm: take the cylindrical light blue cup, avoid the plastic shampoo bottle with smooth surface during the move, and drop it on the round coaster.",
+    "Lift the blue rounded-bottom cup, go around the shampoo bottle, and position the blue rounded-bottom cup squarely on the smooth round palm-sized coaster.",
+    "Using an arm, pick the blue rounded-bottom cup up, skirt the shampoo bottle with rectangular base, and place the blue rounded-bottom cup on the round coaster.",
+    "Lift the medium-sized plastic blue cup, guide it around <the smooth shampoo container>, then put the medium-sized plastic blue cup onto <the grainy texture coaster>.",
+    "Lift the cup for holding liquids, pass beside <the medium shampoo container> without contact, then place the cup for holding liquids onto <the smooth round palm-sized coaster>.",
+    "Use an arm, take the smooth blue drinking cup past the rectangular shampoo bottle with rounded top without nearing it, and rest the smooth blue drinking cup on the coaster made of smooth wood.",
+    "Use an arm to move the plastic cup for drinks to the small coaster with grain texture, keeping the plastic cup for drinks from bumping the white shampoo bottle.",
+    "Take the smooth blue cup for liquids, swing wide of the white shampoo bottle, then rest the smooth blue cup for liquids on the light gray round grainy coaster.",
+    "Move the plastic cup for drinks toward the light gray streaked wooden coaster without passing near the white shampoo bottle, then set it down.",
+    "Lift the cup with light blue color, keep clear of the shampoo bottle, and put the cup with light blue color down on the small coaster with grain texture.",
+    "Using an arm, move the smooth blue cup for liquids to <the light gray streaked wooden coaster> while avoiding <the shampoo bottle>, then release the smooth blue cup for liquids.",
+    "Carry the cup with smooth plastic surface toward <the smooth round palm-sized coaster>, keeping clear of <the plastic shampoo bottle with smooth surface>, and set the cup with smooth plastic surface down.",
+    "Slide the smooth blue cup for liquids over to <the flat surface gray wooden coaster> without passing near <the shampoo bottle with rectangular base>.",
+    "With an arm, lift the cup with light blue color, avoid <the smooth shampoo container> on the way, and drop the cup with light blue color on <the coaster made of smooth wood>.",
+    "Grab the cup for holding liquids, route around the white bottle with golden accents, then lower the cup for holding liquids onto the wooden coaster.",
+    "Use an arm: grasp the blue rounded-bottom cup, avoid <the bottle with yellow cap>, and place the blue rounded-bottom cup on <the small coaster with grain texture>.",
+    "Use an arm to move the plastic cup for drinks around the shampoo bottle with rectangular base and rest the plastic cup for drinks on the flat round wooden coaster.",
+    "Lift the plastic cup for drinks, steer away from <the smooth shampoo container>, then place the plastic cup for drinks on <the flat surface gray wooden coaster>.",
+    "Using an arm, grasp the cup with smooth plastic surface, skirt the shampoo bottle with rectangular base, and place the cup with smooth plastic surface atop the coaster made of smooth wood.",
+    "Take the smooth blue drinking cup to the wooden coaster while skirting the medium shampoo container, then release the smooth blue drinking cup on the wooden coaster.",
+    "With an arm, lift the rounded base blue cup, keep it away from the smooth shampoo container, and drop it onto the flat surface gray wooden coaster.",
+    "Arm-lift the cup with smooth plastic surface, swing around <the plastic shampoo bottle with smooth surface>, then place the cup with smooth plastic surface onto <the small coaster with grain texture>.",
+    "Slide the rounded base blue cup toward the grainy texture coaster, detouring around the white shampoo bottle, then set the rounded base blue cup down.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid the smooth shampoo container, and place the medium-sized plastic blue cup on the round coaster with light streaks.",
+    "Use an arm: pick the light blue plastic cup up, skirt <the hand-held shampoo bottle>, then place the light blue plastic cup onto <the round coaster>.",
+    "Use an arm to bring the smooth blue drinking cup to the small coaster with grain texture, keeping the smooth blue drinking cup clear of the plastic shampoo bottle with smooth surface.",
+    "Use an arm to move the cylindrical light blue cup toward the round coaster, keeping the cylindrical light blue cup clear of the rectangular shampoo bottle with rounded top.",
+    "Lift the rounded base blue cup, guide it past the white bottle with golden accents, and rest the rounded base blue cup on the coaster with circular shape.",
+    "Using an arm, pick the light blue plastic cup up, skirt the shampoo bottle, and place the light blue plastic cup on the coaster with circular shape.",
+    "Use an arm to grab the cylindrical light blue cup, avoid the white bottle with golden accents, and set the cylindrical light blue cup down on the light gray round grainy coaster."
+  ],
+  "unseen": [
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with rounded yellow cap>, and place the small smooth cup on <the light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the white plastic shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the blue cup down on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the white plastic shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the medium-sized shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with rounded yellow cap>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the white plastic shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the white plastic shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with rounded yellow cap, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the medium-sized shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the white plastic shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the blue cup, avoid <the medium-sized shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the blue cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the white plastic shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the small smooth cup on <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white plastic shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the medium-sized shampoo bottle>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the medium-sized shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the white plastic shampoo bottle, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white plastic shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white plastic shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with rounded yellow cap>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the medium-sized shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the white plastic shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white plastic shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with rounded yellow cap>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the medium-sized shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the medium-sized shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with rounded yellow cap, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the medium-sized shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the medium-sized shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the blue cup, avoid <the white plastic shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the white plastic shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the medium-sized shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the medium-sized shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the medium-sized shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the white plastic shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with rounded yellow cap, and place the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the white plastic shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white plastic shampoo bottle>, and place the small smooth cup on <the light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the white plastic shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with rounded yellow cap, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the white plastic shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with rounded yellow cap>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with rounded yellow cap, and set it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with rounded yellow cap, and place the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the medium-sized shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with rounded yellow cap>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the white plastic shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the white plastic shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with rounded yellow cap, and set it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the white plastic shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with rounded yellow cap, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the medium-sized shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the medium-sized shampoo bottle>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the white plastic shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the white plastic shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the medium-sized shampoo bottle, then set the handheld round blue cup onto the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode37.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..12fcc7c9c35d411c81e163e2495636e3c20dd8a2
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the smooth blue cup for liquids, arc around <the medium oval plastic shampoo container>, and place the smooth blue cup for liquids neatly on <the light gray round grainy coaster>.",
+    "Lift the light blue plastic cup, keep clear of the white shampoo bottle, and put the light blue plastic cup down on the wooden coaster.",
+    "Move the medium blue cylindrical cup onto <the grainy texture coaster> and ensure the path stays away from <the glossy white shampoo bottle>.",
+    "Use an arm: grab the medium blue cylindrical cup, avoid the white shampoo bottle on the way, then set the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Use an arm to lift the smooth blue drinking cup, keep distance from <the medium oval plastic shampoo container>, and set the smooth blue drinking cup on <the round coaster with light streaks>.",
+    "Lift the cup with light blue color, pass by the white shampoo bottle without contact, then place the cup with light blue color on the light gray streaked wooden coaster.",
+    "Pick up the plastic cup for drinks, keep clear of <the smooth white shampoo dispenser>, and drop the plastic cup for drinks onto <the round coaster>.",
+    "Secure the medium blue cylindrical cup, move it around the white shampoo bottle, and place the medium blue cylindrical cup squarely on the coaster with circular shape.",
+    "Arm-lift the smooth blue drinking cup, swing around <the plastic shampoo container>, then place the smooth blue drinking cup onto <the flat round wooden coaster>.",
+    "Lift the medium blue cylindrical cup, steer away from <the smooth white shampoo dispenser>, then place the medium blue cylindrical cup on <the round coaster with light streaks>.",
+    "Use an arm to grab the medium-sized plastic blue cup, avoid the white body pink flip cap bottle, and set the medium-sized plastic blue cup down on the coaster with circular shape.",
+    "Use an arm to move the medium-sized plastic blue cup around the white body pink flip cap bottle and rest the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Use an arm, keep the cup for holding liquids from the pink-topped shampoo bottle, and lower the cup for holding liquids onto the light gray round grainy coaster.",
+    "Use an arm: pick the light blue plastic cup up, skirt <the hand-sized shampoo bottle>, then place the light blue plastic cup onto <the light gray round grainy coaster>.",
+    "Pick up the plastic cup for drinks, guide it past the glossy white shampoo bottle, and drop the plastic cup for drinks on the round coaster with light streaks.",
+    "Use an arm: take the cup for holding liquids, avoid the plastic shampoo container during the move, and drop it on the smooth round palm-sized coaster.",
+    "Grab the rounded base blue cup, swing it away from <the plastic shampoo container>, and place the rounded base blue cup on <the wooden coaster>.",
+    "With an arm, lift the plastic cup for drinks, avoid the pink-topped shampoo bottle, and set the plastic cup for drinks onto the flat surface gray wooden coaster.",
+    "Carry the smooth blue cup for liquids toward <the light gray streaked wooden coaster>, keeping clear of <the white shampoo bottle>, and set the smooth blue cup for liquids down.",
+    "Use an arm to lift the light blue plastic cup, arc around the glossy white shampoo bottle, and place the light blue plastic cup atop the round coaster.",
+    "With an arm, lift the rounded base blue cup, keep it away from the white shampoo bottle, and drop it onto the round coaster with light streaks.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid <the glossy white shampoo bottle> on the way, and drop the medium-sized plastic blue cup on <the round coaster with light streaks>.",
+    "Take the plastic cup for drinks to the flat surface gray wooden coaster while skirting the pink-topped shampoo bottle, then release the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Use the arm to lift the medium blue cylindrical cup, pass the shampoo bottle with pink cap, and place the medium blue cylindrical cup on the small coaster with grain texture.",
+    "Using an arm, grasp the smooth blue drinking cup, skirt the oval-shaped shampoo bottle, and place the smooth blue drinking cup atop the wooden coaster.",
+    "Move the smooth blue cup for liquids to the coaster with circular shape without crossing the medium shampoo bottle, then release the smooth blue cup for liquids.",
+    "Take the medium-sized plastic blue cup, keep its path away from the white body pink flip cap bottle, and place the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "With an arm, take the medium-sized plastic blue cup, avoid the plastic shampoo container, and put the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Lift the blue rounded-bottom cup, arc around the shampoo dispenser with flat base, and place the blue rounded-bottom cup squarely on the wooden coaster.",
+    "Lift the cylindrical light blue cup, carry it around the medium shampoo bottle, and place the cylindrical light blue cup squarely on the coaster made of smooth wood.",
+    "Take the cup for holding liquids, swing wide of the smooth white shampoo dispenser, then rest the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Using an arm, move the medium-sized plastic blue cup to <the small coaster with grain texture> while avoiding <the oval-shaped shampoo bottle>, then release the medium-sized plastic blue cup.",
+    "With an arm, bring the cup for holding liquids over to <the smooth round palm-sized coaster> and keep clear of <the smooth white shampoo dispenser>.",
+    "Carry the cup for holding liquids toward <the smooth round palm-sized coaster>, skirting <the medium oval plastic shampoo container>, and set the cup for holding liquids down.",
+    "Lift the cup with light blue color, pass beside <the hand-sized shampoo bottle> without contact, then place the cup with light blue color onto <the flat surface gray wooden coaster>.",
+    "Guide the medium blue cylindrical cup with the arm around <the glossy white shampoo bottle> and onto <the smooth round palm-sized coaster>.",
+    "Use an arm, pick the smooth blue drinking cup up, pass around the medium shampoo bottle, then place the smooth blue drinking cup on the round coaster.",
+    "Pick up the cup with smooth plastic surface, route it away from the white body pink flip cap bottle, then set the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "Use an arm to move the blue rounded-bottom cup to the smooth round palm-sized coaster, keeping the blue rounded-bottom cup from bumping the glossy white shampoo bottle.",
+    "With an arm, lift the cup with light blue color, route past <the glossy white shampoo bottle>, and drop the cup with light blue color onto <the grainy texture coaster>.",
+    "Use the arm to move the plastic cup for drinks past <the medium shampoo bottle> and rest it on <the light gray streaked wooden coaster>.",
+    "With an arm, pick the cup with smooth plastic surface up, bypass <the white shampoo bottle>, then place the cup with smooth plastic surface on <the coaster with circular shape>.",
+    "With an arm, lift the light blue plastic cup, guide it past the plastic shampoo container, and put the light blue plastic cup on the coaster made of smooth wood.",
+    "Use an arm to take the medium-sized plastic blue cup around <the medium oval plastic shampoo container> and place the medium-sized plastic blue cup on <the smooth round palm-sized coaster>.",
+    "Take the plastic cup for drinks, keep its path away from the hand-sized shampoo bottle, and drop the plastic cup for drinks on the smooth round palm-sized coaster.",
+    "Take the medium blue cylindrical cup in the arm, route around <the pink-topped shampoo bottle>, and set it on <the round coaster with light streaks>.",
+    "Lift the medium-sized plastic blue cup, guide it past the glossy white shampoo bottle, and rest the medium-sized plastic blue cup on the coaster with circular shape.",
+    "Secure the smooth blue cup for liquids, keep its path away from the plastic shampoo container, and set the smooth blue cup for liquids on the light gray round grainy coaster.",
+    "Using an arm, pick the smooth blue cup for liquids up, skirt the white shampoo bottle, and place the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Use an arm, take the medium-sized plastic blue cup past the hand-sized shampoo bottle without nearing it, and rest the medium-sized plastic blue cup on the coaster with circular shape.",
+    "Pick the medium blue cylindrical cup up, route it away from the shampoo bottle with pink cap, and drop the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "With an arm, move the blue rounded-bottom cup past the hand-sized shampoo bottle and place the blue rounded-bottom cup on the flat round wooden coaster.",
+    "Use the arm to carry the cup for holding liquids around the hand-sized shampoo bottle, then rest the cup for holding liquids on the round coaster.",
+    "Using an arm, pick the rounded base blue cup up, skirt the white body pink flip cap bottle, and place the rounded base blue cup on the smooth round palm-sized coaster.",
+    "Grab the cylindrical light blue cup, route around the pink-topped shampoo bottle, then lower the cylindrical light blue cup onto the small coaster with grain texture.",
+    "Move the light blue plastic cup to <the flat surface gray wooden coaster> while keeping its path away from <the shampoo dispenser with flat base>.",
+    "Move the plastic cup for drinks toward the flat surface gray wooden coaster without passing near the white shampoo bottle, then set it down.",
+    "Move the smooth blue cup for liquids onto the small coaster with grain texture while avoiding the white body pink flip cap bottle, then let go of the smooth blue cup for liquids.",
+    "Slide the medium-sized plastic blue cup over to <the grainy texture coaster> without passing near <the medium shampoo bottle>.",
+    "Grab the smooth blue drinking cup, guide it away from the pink-topped shampoo bottle, and set the smooth blue drinking cup neatly on the coaster made of smooth wood.",
+    "Using an arm, carry the light blue plastic cup past <the plastic shampoo container> and place the light blue plastic cup squarely on <the small coaster with grain texture>.",
+    "Carry the cylindrical light blue cup toward the round coaster, keeping the cylindrical light blue cup away from the medium shampoo bottle, then set down.",
+    "Move the cup for holding liquids onto the light gray round grainy coaster while avoiding the medium oval plastic shampoo container, then let go of the cup for holding liquids.",
+    "Use an arm: grasp the cup for holding liquids, avoid <the white shampoo bottle>, and place the cup for holding liquids on <the light gray round grainy coaster>.",
+    "Carry the cup for holding liquids toward <the round coaster with light streaks>, keeping the path clear of <the glossy white shampoo bottle>, then set down.",
+    "Slide the medium-sized plastic blue cup toward the coaster with circular shape, detouring around the white body pink flip cap bottle, then set the medium-sized plastic blue cup down.",
+    "Take the cylindrical light blue cup, guide it away from <the shampoo dispenser with flat base>, and place the cylindrical light blue cup squarely on <the small coaster with grain texture>.",
+    "Use an arm to move the cup with light blue color toward the smooth round palm-sized coaster, keeping the cup with light blue color clear of the medium shampoo bottle.",
+    "Move the rounded base blue cup to <the flat round wooden coaster> while keeping the rounded base blue cup away from <the pink-topped shampoo bottle>, then release.",
+    "Pick up the blue rounded-bottom cup, keep its path away from <the hand-sized shampoo bottle>, and set the blue rounded-bottom cup on <the flat round wooden coaster>.",
+    "Move the cup with light blue color to the wooden coaster while avoiding the shampoo dispenser with flat base, then place the cup with light blue color on the wooden coaster.",
+    "Lift the smooth blue drinking cup, go around the shampoo bottle with pink cap, and position the smooth blue drinking cup squarely on the light gray round grainy coaster.",
+    "Use an arm to bring the smooth blue cup for liquids to the grainy texture coaster, keeping the smooth blue cup for liquids clear of the white body pink flip cap bottle.",
+    "Pick up the medium blue cylindrical cup, avoid the oval-shaped shampoo bottle along the way, and place the medium blue cylindrical cup on the wooden coaster.",
+    "Using an arm, carry the light blue plastic cup around the hand-sized shampoo bottle and place the light blue plastic cup onto the flat surface gray wooden coaster.",
+    "Lift the medium blue cylindrical cup, guide it around <the white shampoo bottle>, then put the medium blue cylindrical cup onto <the smooth round palm-sized coaster>.",
+    "Lift the cup with smooth plastic surface, route it away from the hand-sized shampoo bottle, then put the cup with smooth plastic surface squarely on the round coaster with light streaks.",
+    "Use an arm, take the medium-sized plastic blue cup, avoid <the plastic shampoo container> on the way, and set on <the flat round wooden coaster>.",
+    "With an arm, lift the light blue plastic cup, avoid the glossy white shampoo bottle, and place the light blue plastic cup on the grainy texture coaster.",
+    "Take the plastic cup for drinks, route it away from the white shampoo bottle, and set the plastic cup for drinks onto the round coaster with light streaks.",
+    "Take the blue rounded-bottom cup, arc around <the shampoo bottle with pink cap>, and place the blue rounded-bottom cup neatly on <the round coaster with light streaks>.",
+    "Lift the smooth blue drinking cup, keep clear of the white body pink flip cap bottle, and put the smooth blue drinking cup down on the light gray round grainy coaster.",
+    "Move the cup with smooth plastic surface onto <the round coaster> and ensure the path stays away from <the glossy white shampoo bottle>.",
+    "Use an arm: grab the smooth blue cup for liquids, avoid the shampoo dispenser with flat base on the way, then set the smooth blue cup for liquids on the round coaster.",
+    "Use an arm to lift the smooth blue drinking cup, keep distance from <the medium shampoo bottle>, and set the smooth blue drinking cup on <the round coaster>.",
+    "Lift the light blue plastic cup, pass by the shampoo dispenser with flat base without contact, then place the light blue plastic cup on the flat surface gray wooden coaster.",
+    "Pick up the smooth blue cup for liquids, keep clear of <the glossy white shampoo bottle>, and drop the smooth blue cup for liquids onto <the small coaster with grain texture>.",
+    "Secure the plastic cup for drinks, move it around the glossy white shampoo bottle, and place the plastic cup for drinks squarely on the grainy texture coaster.",
+    "Arm-lift the medium blue cylindrical cup, swing around <the pink-topped shampoo bottle>, then place the medium blue cylindrical cup onto <the flat round wooden coaster>.",
+    "Lift the rounded base blue cup, steer away from <the pink-topped shampoo bottle>, then place the rounded base blue cup on <the round coaster>.",
+    "Use an arm to grab the medium blue cylindrical cup, avoid the pink-topped shampoo bottle, and set the medium blue cylindrical cup down on the flat round wooden coaster.",
+    "Use an arm to move the blue rounded-bottom cup around the white shampoo bottle and rest the blue rounded-bottom cup on the smooth round palm-sized coaster.",
+    "Use an arm, keep the cup with smooth plastic surface from the smooth white shampoo dispenser, and lower the cup with smooth plastic surface onto the grainy texture coaster.",
+    "Use an arm: pick the plastic cup for drinks up, skirt <the plastic shampoo container>, then place the plastic cup for drinks onto <the flat round wooden coaster>.",
+    "Pick up the cup for holding liquids, guide it past the medium oval plastic shampoo container, and drop the cup for holding liquids on the small coaster with grain texture.",
+    "Use an arm: take the cup for holding liquids, avoid the hand-sized shampoo bottle during the move, and drop it on the light gray round grainy coaster.",
+    "Grab the medium blue cylindrical cup, swing it away from <the glossy white shampoo bottle>, and place the medium blue cylindrical cup on <the grainy texture coaster>.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the plastic shampoo container, and set the blue rounded-bottom cup onto the grainy texture coaster.",
+    "Carry the light blue plastic cup toward <the small coaster with grain texture>, keeping clear of <the plastic shampoo container>, and set the light blue plastic cup down.",
+    "Use an arm to lift the medium blue cylindrical cup, arc around the shampoo dispenser with flat base, and place the medium blue cylindrical cup atop the coaster with circular shape."
+  ],
+  "unseen": [
+    "Using an arm, pick up the small smooth cup, steer clear of <the bottle for holding shampoo>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with Dove logo, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with Dove logo>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the bottle for holding shampoo, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle with Dove logo, and set it on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the Dove shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with Dove logo, and place it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the bottle for holding shampoo, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the Dove shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the bottle for holding shampoo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the Dove shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the bottle for holding shampoo>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the Dove shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the Dove shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the bottle for holding shampoo>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, avoid the bottle for holding shampoo, and place the blue cup on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with Dove logo>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with Dove logo, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the bottle for holding shampoo, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the bottle for holding shampoo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the bottle for holding shampoo>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the Dove shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the bottle for holding shampoo, and set the small smooth cup on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the bottle for holding shampoo, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the Dove shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with Dove logo>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the bottle for holding shampoo>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the Dove shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with Dove logo>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with Dove logo, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the Dove shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the Dove shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the Dove shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the Dove shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with Dove logo>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with Dove logo, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo bottle with Dove logo, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the bottle for holding shampoo>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the Dove shampoo bottle>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the bottle for holding shampoo>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the Dove shampoo bottle, and place the small smooth cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the Dove shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the Dove shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the Dove shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the Dove shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the bottle for holding shampoo, and place it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the Dove shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the bottle for holding shampoo, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the bottle for holding shampoo>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the Dove shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with Dove logo>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the bottle for holding shampoo>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with Dove logo, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the Dove shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the bottle for holding shampoo, and place the handheld round blue cup on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the Dove shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the bottle for holding shampoo, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the Dove shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the bottle for holding shampoo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the bottle for holding shampoo>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the bottle for holding shampoo, and place it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with Dove logo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the bottle for holding shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the Dove shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the Dove shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the bottle for holding shampoo>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the shampoo bottle with Dove logo>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the Dove shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the bottle for holding shampoo>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the bottle for holding shampoo, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the bottle for holding shampoo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the bottle for holding shampoo, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the Dove shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the bottle for holding shampoo>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the Dove shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with Dove logo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the bottle for holding shampoo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the bottle for holding shampoo>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the Dove shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the Dove shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the Dove shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the Dove shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the bottle for holding shampoo, and place the blue cup on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with Dove logo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the Dove shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode38.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..617cfde782ac7e9ec9f97279e3f104298dfd98b5
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm to move the smooth blue drinking cup toward the light gray streaked wooden coaster, keeping the smooth blue drinking cup clear of the shampoo dispenser with flat base.",
+    "Pick up the smooth blue drinking cup, keep its path away from <the shampoo dispenser with flat base>, and set the smooth blue drinking cup on <the coaster with circular shape>.",
+    "Lift the cup with smooth plastic surface, steer away from <the smooth white shampoo dispenser>, then place the cup with smooth plastic surface on <the grainy texture coaster>.",
+    "Using an arm, carry the smooth blue cup for liquids past <the medium oval plastic shampoo container> and place the smooth blue cup for liquids squarely on <the coaster made of smooth wood>.",
+    "Pick the plastic cup for drinks up, route it away from the oval-shaped shampoo bottle, and drop the plastic cup for drinks onto the flat surface gray wooden coaster.",
+    "Secure the cylindrical light blue cup, move it around the white shampoo bottle, and place the cylindrical light blue cup squarely on the flat surface gray wooden coaster.",
+    "Use an arm to move the plastic cup for drinks to the coaster with circular shape, keeping the plastic cup for drinks from bumping the white body pink flip cap bottle.",
+    "Use an arm to lift the light blue plastic cup, keep distance from <the pink-topped shampoo bottle>, and set the light blue plastic cup on <the light gray streaked wooden coaster>.",
+    "Lift the smooth blue cup for liquids, arc around the plastic shampoo container, and place the smooth blue cup for liquids squarely on the light gray round grainy coaster.",
+    "Move the smooth blue cup for liquids onto the round coaster with light streaks while avoiding the hand-sized shampoo bottle, then let go of the smooth blue cup for liquids.",
+    "With an arm, lift the smooth blue drinking cup, keep it away from the glossy white shampoo bottle, and drop it onto the light gray round grainy coaster.",
+    "Move the rounded base blue cup to <the small coaster with grain texture> while keeping its path away from <the white shampoo bottle>.",
+    "Use an arm to move the plastic cup for drinks around the oval-shaped shampoo bottle and rest the plastic cup for drinks on the wooden coaster.",
+    "Using an arm, move the medium blue cylindrical cup to <the grainy texture coaster> while avoiding <the pink-topped shampoo bottle>, then release the medium blue cylindrical cup.",
+    "With an arm, take the light blue plastic cup, avoid the pink-topped shampoo bottle, and put the light blue plastic cup on the coaster made of smooth wood.",
+    "Take the plastic cup for drinks, keep its path away from the plastic shampoo container, and drop the plastic cup for drinks on the grainy texture coaster.",
+    "Take the cup with light blue color, arc around <the shampoo dispenser with flat base>, and place the cup with light blue color neatly on <the flat round wooden coaster>.",
+    "Lift the blue rounded-bottom cup, guide it past the plastic shampoo container, and rest the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "Use an arm to lift the smooth blue cup for liquids, arc around the smooth white shampoo dispenser, and place the smooth blue cup for liquids atop the grainy texture coaster.",
+    "Use an arm: grasp the plastic cup for drinks, avoid <the hand-sized shampoo bottle>, and place the plastic cup for drinks on <the light gray round grainy coaster>.",
+    "Move the cylindrical light blue cup toward the light gray round grainy coaster without passing near the medium oval plastic shampoo container, then set it down.",
+    "Lift the smooth blue cup for liquids, carry it around the medium shampoo bottle, and place the smooth blue cup for liquids squarely on the round coaster.",
+    "Grab the rounded base blue cup, route around the medium shampoo bottle, then lower the rounded base blue cup onto the light gray streaked wooden coaster.",
+    "Carry the rounded base blue cup toward <the grainy texture coaster>, keeping the path clear of <the pink-topped shampoo bottle>, then set down.",
+    "Move the smooth blue drinking cup to <the round coaster> while keeping the smooth blue drinking cup away from <the shampoo bottle with pink cap>, then release.",
+    "Use an arm, keep the medium blue cylindrical cup from the pink-topped shampoo bottle, and lower the medium blue cylindrical cup onto the flat surface gray wooden coaster.",
+    "Lift the plastic cup for drinks, route it away from the plastic shampoo container, then put the plastic cup for drinks squarely on the coaster made of smooth wood.",
+    "Arm-lift the smooth blue cup for liquids, swing around <the medium shampoo bottle>, then place the smooth blue cup for liquids onto <the wooden coaster>.",
+    "Lift the cup for holding liquids, pass beside <the hand-sized shampoo bottle> without contact, then place the cup for holding liquids onto <the round coaster>.",
+    "Use an arm to grab the rounded base blue cup, avoid the white shampoo bottle, and set the rounded base blue cup down on the flat surface gray wooden coaster.",
+    "Pick up the smooth blue drinking cup, guide it past the glossy white shampoo bottle, and drop the smooth blue drinking cup on the smooth round palm-sized coaster.",
+    "Use an arm to bring the plastic cup for drinks to the round coaster, keeping the plastic cup for drinks clear of the white shampoo bottle.",
+    "Lift the rounded base blue cup, pass by the pink-topped shampoo bottle without contact, then place the rounded base blue cup on the flat round wooden coaster.",
+    "Move the light blue plastic cup to the smooth round palm-sized coaster while avoiding the shampoo dispenser with flat base, then place the light blue plastic cup on the smooth round palm-sized coaster.",
+    "Use an arm: grab the plastic cup for drinks, avoid the smooth white shampoo dispenser on the way, then set the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid the oval-shaped shampoo bottle, and set the medium-sized plastic blue cup onto the coaster made of smooth wood.",
+    "Use an arm: pick the light blue plastic cup up, skirt <the hand-sized shampoo bottle>, then place the light blue plastic cup onto <the coaster with circular shape>.",
+    "Using an arm, carry the smooth blue cup for liquids around the shampoo dispenser with flat base and place the smooth blue cup for liquids onto the wooden coaster.",
+    "Pick up the blue rounded-bottom cup, route it away from the shampoo bottle with pink cap, then set the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Take the plastic cup for drinks, guide it away from <the medium oval plastic shampoo container>, and place the plastic cup for drinks squarely on <the coaster made of smooth wood>.",
+    "Lift the smooth blue drinking cup, keep clear of the hand-sized shampoo bottle, and put the smooth blue drinking cup down on the flat round wooden coaster.",
+    "Take the cylindrical light blue cup to the light gray round grainy coaster while skirting the medium oval plastic shampoo container, then release the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Using an arm, grasp the light blue plastic cup, skirt the white body pink flip cap bottle, and place the light blue plastic cup atop the light gray round grainy coaster.",
+    "Lift the smooth blue cup for liquids, guide it around <the medium shampoo bottle>, then put the smooth blue cup for liquids onto <the smooth round palm-sized coaster>.",
+    "Using an arm, pick the smooth blue cup for liquids up, skirt the oval-shaped shampoo bottle, and place the smooth blue cup for liquids on the grainy texture coaster.",
+    "With an arm, lift the plastic cup for drinks, avoid <the oval-shaped shampoo bottle> on the way, and drop the plastic cup for drinks on <the coaster with circular shape>.",
+    "Slide the blue rounded-bottom cup toward the round coaster, detouring around the medium shampoo bottle, then set the blue rounded-bottom cup down.",
+    "With an arm, bring the smooth blue drinking cup over to <the flat round wooden coaster> and keep clear of <the oval-shaped shampoo bottle>.",
+    "Use an arm, take the light blue plastic cup, avoid <the white body pink flip cap bottle> on the way, and set on <the light gray round grainy coaster>.",
+    "Use an arm: take the plastic cup for drinks, avoid the glossy white shampoo bottle during the move, and drop it on the coaster made of smooth wood.",
+    "Grab the rounded base blue cup, swing it away from <the smooth white shampoo dispenser>, and place the rounded base blue cup on <the flat round wooden coaster>.",
+    "Pick up the plastic cup for drinks, keep clear of <the smooth white shampoo dispenser>, and drop the plastic cup for drinks onto <the grainy texture coaster>.",
+    "Secure the plastic cup for drinks, keep its path away from the white body pink flip cap bottle, and set the plastic cup for drinks on the coaster made of smooth wood.",
+    "With an arm, lift the smooth blue drinking cup, route past <the glossy white shampoo bottle>, and drop the smooth blue drinking cup onto <the smooth round palm-sized coaster>.",
+    "Take the smooth blue cup for liquids, route it away from the medium oval plastic shampoo container, and set the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Use an arm, pick the medium-sized plastic blue cup up, pass around the pink-topped shampoo bottle, then place the medium-sized plastic blue cup on the coaster with circular shape.",
+    "Guide the cup with light blue color with the arm around <the shampoo bottle with pink cap> and onto <the wooden coaster>.",
+    "Use an arm to take the cylindrical light blue cup around <the shampoo bottle with pink cap> and place the cylindrical light blue cup on <the light gray streaked wooden coaster>.",
+    "With an arm, lift the cup with light blue color, avoid the pink-topped shampoo bottle, and place the cup with light blue color on the round coaster.",
+    "Use the arm to carry the rounded base blue cup around the medium oval plastic shampoo container, then rest the rounded base blue cup on the wooden coaster.",
+    "With an arm, move the smooth blue drinking cup past the white body pink flip cap bottle and place the smooth blue drinking cup on the flat round wooden coaster.",
+    "Use the arm to lift the light blue plastic cup, pass the oval-shaped shampoo bottle, and place the light blue plastic cup on the coaster made of smooth wood.",
+    "Use the arm to move the light blue plastic cup past <the medium shampoo bottle> and rest it on <the grainy texture coaster>.",
+    "Use an arm, take the smooth blue drinking cup past the oval-shaped shampoo bottle without nearing it, and rest the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "With an arm, pick the smooth blue drinking cup up, bypass <the medium shampoo bottle>, then place the smooth blue drinking cup on <the small coaster with grain texture>.",
+    "Using an arm, pick the cup for holding liquids up, skirt the shampoo bottle with pink cap, and place the cup for holding liquids on the light gray round grainy coaster.",
+    "Carry the rounded base blue cup toward <the round coaster>, skirting <the white shampoo bottle>, and set the rounded base blue cup down.",
+    "Pick up the blue rounded-bottom cup, avoid the oval-shaped shampoo bottle along the way, and place the blue rounded-bottom cup on the flat round wooden coaster.",
+    "Move the cup for holding liquids onto <the round coaster with light streaks> and ensure the path stays away from <the shampoo dispenser with flat base>.",
+    "Take the plastic cup for drinks, keep its path away from the hand-sized shampoo bottle, and place the plastic cup for drinks on the round coaster with light streaks.",
+    "Slide the medium blue cylindrical cup over to <the coaster with circular shape> without passing near <the medium oval plastic shampoo container>.",
+    "With an arm, lift the cylindrical light blue cup, guide it past the plastic shampoo container, and put the cylindrical light blue cup on the round coaster with light streaks.",
+    "Take the smooth blue cup for liquids in the arm, route around <the white shampoo bottle>, and set it on <the wooden coaster>.",
+    "Take the light blue plastic cup, swing wide of the plastic shampoo container, then rest the light blue plastic cup on the flat surface gray wooden coaster.",
+    "Grab the cup for holding liquids, guide it away from the medium shampoo bottle, and set the cup for holding liquids neatly on the coaster made of smooth wood.",
+    "Move the cup with smooth plastic surface to the grainy texture coaster without crossing the hand-sized shampoo bottle, then release the cup with smooth plastic surface.",
+    "Move the cup with smooth plastic surface onto the round coaster with light streaks while avoiding the glossy white shampoo bottle, then let go of the cup with smooth plastic surface.",
+    "Lift the cup with smooth plastic surface, go around the pink-topped shampoo bottle, and position the cup with smooth plastic surface squarely on the light gray round grainy coaster.",
+    "Carry the light blue plastic cup toward <the round coaster>, keeping clear of <the smooth white shampoo dispenser>, and set the light blue plastic cup down.",
+    "Carry the light blue plastic cup toward the round coaster, keeping the light blue plastic cup away from the plastic shampoo container, then set down.",
+    "Use an arm to move the plastic cup for drinks toward the flat round wooden coaster, keeping the plastic cup for drinks clear of the oval-shaped shampoo bottle.",
+    "Pick up the rounded base blue cup, keep its path away from <the white body pink flip cap bottle>, and set the rounded base blue cup on <the smooth round palm-sized coaster>.",
+    "Lift the smooth blue drinking cup, steer away from <the shampoo bottle with pink cap>, then place the smooth blue drinking cup on <the flat surface gray wooden coaster>.",
+    "Using an arm, carry the cylindrical light blue cup past <the medium shampoo bottle> and place the cylindrical light blue cup squarely on <the coaster made of smooth wood>.",
+    "Pick the light blue plastic cup up, route it away from the shampoo bottle with pink cap, and drop the light blue plastic cup onto the coaster made of smooth wood.",
+    "Secure the cup for holding liquids, move it around the oval-shaped shampoo bottle, and place the cup for holding liquids squarely on the round coaster with light streaks.",
+    "Use an arm to move the medium blue cylindrical cup to the small coaster with grain texture, keeping the medium blue cylindrical cup from bumping the white body pink flip cap bottle.",
+    "Use an arm to lift the light blue plastic cup, keep distance from <the oval-shaped shampoo bottle>, and set the light blue plastic cup on <the light gray round grainy coaster>.",
+    "Lift the medium blue cylindrical cup, arc around the oval-shaped shampoo bottle, and place the medium blue cylindrical cup squarely on the flat round wooden coaster.",
+    "Move the medium blue cylindrical cup onto the light gray round grainy coaster while avoiding the hand-sized shampoo bottle, then let go of the medium blue cylindrical cup.",
+    "With an arm, lift the blue rounded-bottom cup, keep it away from the plastic shampoo container, and drop it onto the wooden coaster.",
+    "Move the cylindrical light blue cup to <the wooden coaster> while keeping its path away from <the pink-topped shampoo bottle>.",
+    "Use an arm to move the rounded base blue cup around the medium oval plastic shampoo container and rest the rounded base blue cup on the light gray round grainy coaster.",
+    "Using an arm, move the cup for holding liquids to <the smooth round palm-sized coaster> while avoiding <the smooth white shampoo dispenser>, then release the cup for holding liquids.",
+    "With an arm, take the medium blue cylindrical cup, avoid the pink-topped shampoo bottle, and put the medium blue cylindrical cup on the flat round wooden coaster.",
+    "Take the rounded base blue cup, keep its path away from the medium oval plastic shampoo container, and drop the rounded base blue cup on the smooth round palm-sized coaster.",
+    "Take the rounded base blue cup, arc around <the smooth white shampoo dispenser>, and place the rounded base blue cup neatly on <the flat surface gray wooden coaster>.",
+    "Lift the rounded base blue cup, guide it past the shampoo dispenser with flat base, and rest the rounded base blue cup on the light gray round grainy coaster.",
+    "Use an arm to lift the plastic cup for drinks, arc around the hand-sized shampoo bottle, and place the plastic cup for drinks atop the small coaster with grain texture.",
+    "Use an arm: grasp the medium blue cylindrical cup, avoid <the white body pink flip cap bottle>, and place the medium blue cylindrical cup on <the smooth round palm-sized coaster>."
+  ],
+  "unseen": [
+    "Grab the small smooth cup, guide it around <the bottle for holding shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the bottle for holding shampoo>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with Dove logo>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the bottle for holding shampoo, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the bottle for holding shampoo, and place it on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the bottle for holding shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the Dove shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the bottle for holding shampoo, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the bottle for holding shampoo, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the Dove shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with Dove logo>, then place the small smooth cup onto <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the bottle for holding shampoo>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the Dove shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the bottle for holding shampoo, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the bottle for holding shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the Dove shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the bottle for holding shampoo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the Dove shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep clear of the bottle for holding shampoo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the Dove shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the bottle for holding shampoo, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with Dove logo, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the Dove shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with Dove logo>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, route it around <the bottle for holding shampoo>, then place the small smooth cup onto <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with Dove logo>, and set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with Dove logo, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the Dove shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the bottle for holding shampoo>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the bottle for holding shampoo>, then set the handheld round blue cup on <the light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with Dove logo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the Dove shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the Dove shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the Dove shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the bottle for holding shampoo, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the Dove shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the Dove shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the Dove shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the bottle for holding shampoo>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with Dove logo, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with Dove logo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the bottle for holding shampoo>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with Dove logo, and place it on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the Dove shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the Dove shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the Dove shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the Dove shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the bottle for holding shampoo>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with Dove logo>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the bottle for holding shampoo>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the bottle for holding shampoo, and place the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, guide it around <the Dove shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the Dove shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the Dove shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the bottle for holding shampoo, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep clear of the Dove shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the bottle for holding shampoo, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the Dove shampoo bottle, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle with Dove logo, then set the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the bottle for holding shampoo>, and place the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the bottle for holding shampoo>, then place the small smooth cup onto <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the Dove shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the Dove shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the bottle for holding shampoo>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the Dove shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the bottle for holding shampoo>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with Dove logo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the bottle for holding shampoo, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the bottle for holding shampoo, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the shampoo bottle with Dove logo, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the bottle for holding shampoo, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the Dove shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the bottle for holding shampoo>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the bottle for holding shampoo>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the Dove shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the bottle for holding shampoo, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the Dove shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with Dove logo>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with Dove logo>, then set the blue cup on <the disc-shaped light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode39.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..19518eee77dc0ca5116f817ceda699e07e2bb5c4
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the blue rounded-bottom cup, guide it past the hand-held shampoo bottle, and drop the blue rounded-bottom cup on the grainy texture coaster.",
+    "Take the blue rounded-bottom cup, keep its path away from the medium shampoo container, and drop the blue rounded-bottom cup on the smooth round palm-sized coaster.",
+    "Secure the plastic cup for drinks, keep its path away from the white shampoo bottle with golden top, and set the plastic cup for drinks on the round coaster with light streaks.",
+    "Use an arm to lift the medium-sized plastic blue cup, arc around the shampoo bottle, and place the medium-sized plastic blue cup atop the light gray round grainy coaster.",
+    "Pick up the cup with light blue color, avoid the shampoo bottle along the way, and place the cup with light blue color on the grainy texture coaster.",
+    "Use an arm to take the cup with smooth plastic surface around <the white bottle with golden accents> and place the cup with smooth plastic surface on <the coaster made of smooth wood>.",
+    "Use the arm to move the medium-sized plastic blue cup past <the white shampoo bottle> and rest it on <the light gray streaked wooden coaster>.",
+    "Slide the medium blue cylindrical cup over to <the flat surface gray wooden coaster> without passing near <the bottle with yellow cap>.",
+    "Using an arm, grasp the rounded base blue cup, skirt the rectangular shampoo bottle with rounded top, and place the rounded base blue cup atop the wooden coaster.",
+    "Pick up the blue rounded-bottom cup, keep its path away from <the white shampoo bottle>, and set the blue rounded-bottom cup on <the grainy texture coaster>.",
+    "Pick up the smooth blue cup for liquids, route it away from the shampoo bottle with rectangular base, then set the smooth blue cup for liquids on the coaster with circular shape.",
+    "Take the cup with smooth plastic surface, route it away from the smooth shampoo container, and set the cup with smooth plastic surface onto the coaster with circular shape.",
+    "Lift the cup with light blue color, keep clear of the shampoo bottle with rectangular base, and put the cup with light blue color down on the flat surface gray wooden coaster.",
+    "Take the blue rounded-bottom cup, swing wide of the medium shampoo container, then rest the blue rounded-bottom cup on the grainy texture coaster.",
+    "Use an arm to bring the plastic cup for drinks to the coaster made of smooth wood, keeping the plastic cup for drinks clear of the bottle with yellow cap.",
+    "Use the arm to lift the cup for holding liquids, pass the plastic shampoo bottle with smooth surface, and place the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Move the medium-sized plastic blue cup onto the coaster with circular shape while avoiding the white shampoo bottle with golden top, then let go of the medium-sized plastic blue cup.",
+    "Use an arm, pick the cup with smooth plastic surface up, pass around the medium shampoo container, then place the cup with smooth plastic surface on the round coaster.",
+    "Grab the cylindrical light blue cup, route around the bottle for shampoo with glossy finish, then lower the cylindrical light blue cup onto the coaster made of smooth wood.",
+    "With an arm, take the plastic cup for drinks, avoid the white shampoo bottle with golden top, and put the plastic cup for drinks on the round coaster.",
+    "Use an arm to move the cup for holding liquids toward the coaster with circular shape, keeping the cup for holding liquids clear of the shampoo bottle.",
+    "Carry the cup with smooth plastic surface toward the round coaster with light streaks, keeping the cup with smooth plastic surface away from the white bottle with golden accents, then set down.",
+    "Lift the smooth blue cup for liquids, go around the white shampoo bottle, and position the smooth blue cup for liquids squarely on the flat surface gray wooden coaster.",
+    "Use an arm to move the smooth blue drinking cup to the round coaster, keeping the smooth blue drinking cup from bumping the shampoo bottle with rectangular base.",
+    "Move the smooth blue drinking cup to the small coaster with grain texture while avoiding the hand-held shampoo bottle, then place the smooth blue drinking cup on the small coaster with grain texture.",
+    "Using an arm, pick the light blue plastic cup up, skirt the medium shampoo container, and place the light blue plastic cup on the flat surface gray wooden coaster.",
+    "Lift the medium-sized plastic blue cup, pass by the smooth shampoo container without contact, then place the medium-sized plastic blue cup on the grainy texture coaster.",
+    "Use an arm, take the smooth blue cup for liquids, avoid <the bottle for shampoo with glossy finish> on the way, and set on <the smooth round palm-sized coaster>.",
+    "Use the arm to carry the rounded base blue cup around the bottle for shampoo with glossy finish, then rest the rounded base blue cup on the round coaster.",
+    "Using an arm, pick the cup with smooth plastic surface up, skirt the shampoo bottle, and place the cup with smooth plastic surface on the round coaster with light streaks.",
+    "Lift the cup for holding liquids, route it away from the hand-held shampoo bottle, then put the cup for holding liquids squarely on the smooth round palm-sized coaster.",
+    "Move the cylindrical light blue cup to <the round coaster> while keeping its path away from <the shampoo bottle with rectangular base>.",
+    "Use an arm, keep the cup with light blue color from the smooth shampoo container, and lower the cup with light blue color onto the light gray round grainy coaster.",
+    "Use an arm: grasp the cylindrical light blue cup, avoid <the medium shampoo container>, and place the cylindrical light blue cup on <the light gray streaked wooden coaster>.",
+    "Carry the blue rounded-bottom cup toward <the light gray round grainy coaster>, keeping clear of <the hand-held shampoo bottle>, and set the blue rounded-bottom cup down.",
+    "Take the cup for holding liquids to the light gray streaked wooden coaster while skirting the bottle with yellow cap, then release the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Use an arm: take the cup for holding liquids, avoid the smooth shampoo container during the move, and drop it on the coaster with circular shape.",
+    "Arm-lift the plastic cup for drinks, swing around <the medium shampoo container>, then place the plastic cup for drinks onto <the coaster with circular shape>.",
+    "Secure the plastic cup for drinks, move it around the smooth shampoo container, and place the plastic cup for drinks squarely on the smooth round palm-sized coaster.",
+    "With an arm, bring the rounded base blue cup over to <the light gray streaked wooden coaster> and keep clear of <the white bottle with golden accents>.",
+    "Lift the smooth blue cup for liquids, pass beside <the hand-held shampoo bottle> without contact, then place the smooth blue cup for liquids onto <the round coaster with light streaks>.",
+    "With an arm, lift the rounded base blue cup, avoid the shampoo bottle, and place the rounded base blue cup on the wooden coaster.",
+    "Use an arm to lift the cup with light blue color, keep distance from <the white shampoo bottle with golden top>, and set the cup with light blue color on <the round coaster>.",
+    "Lift the cup with light blue color, arc around the bottle with yellow cap, and place the cup with light blue color squarely on the wooden coaster.",
+    "Carry the smooth blue cup for liquids toward <the coaster with circular shape>, keeping the path clear of <the bottle with yellow cap>, then set down.",
+    "Use an arm to grab the light blue plastic cup, avoid the white shampoo bottle with golden top, and set the light blue plastic cup down on the flat surface gray wooden coaster.",
+    "With an arm, pick the light blue plastic cup up, bypass <the rectangular shampoo bottle with rounded top>, then place the light blue plastic cup on <the round coaster>.",
+    "Move the smooth blue drinking cup toward the smooth round palm-sized coaster without passing near the shampoo bottle with rectangular base, then set it down.",
+    "Take the light blue plastic cup in the arm, route around <the white bottle with golden accents>, and set it on <the coaster with circular shape>.",
+    "Pick up the smooth blue drinking cup, keep clear of <the shampoo bottle with rectangular base>, and drop the smooth blue drinking cup onto <the flat round wooden coaster>.",
+    "Grab the cylindrical light blue cup, guide it away from the medium shampoo container, and set the cylindrical light blue cup neatly on the wooden coaster.",
+    "Take the light blue plastic cup, guide it away from <the hand-held shampoo bottle>, and place the light blue plastic cup squarely on <the coaster with circular shape>.",
+    "Lift the cup with smooth plastic surface, guide it around <the medium shampoo container>, then put the cup with smooth plastic surface onto <the smooth round palm-sized coaster>.",
+    "With an arm, lift the smooth blue cup for liquids, avoid the white shampoo bottle with golden top, and set the smooth blue cup for liquids onto the flat round wooden coaster.",
+    "Take the blue rounded-bottom cup, arc around <the rectangular shampoo bottle with rounded top>, and place the blue rounded-bottom cup neatly on <the round coaster with light streaks>.",
+    "Lift the blue rounded-bottom cup, guide it past the white bottle with golden accents, and rest the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Pick the plastic cup for drinks up, route it away from the shampoo bottle, and drop the plastic cup for drinks onto the round coaster with light streaks.",
+    "Using an arm, carry the rounded base blue cup around the white shampoo bottle and place the rounded base blue cup onto the coaster made of smooth wood.",
+    "Move the rounded base blue cup to <the coaster made of smooth wood> while keeping the rounded base blue cup away from <the medium shampoo container>, then release.",
+    "Move the medium blue cylindrical cup onto the flat surface gray wooden coaster while avoiding the plastic shampoo bottle with smooth surface, then let go of the medium blue cylindrical cup.",
+    "With an arm, move the smooth blue cup for liquids past the white bottle with golden accents and place the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Use an arm: pick the cup with smooth plastic surface up, skirt <the plastic shampoo bottle with smooth surface>, then place the cup with smooth plastic surface onto <the coaster with circular shape>.",
+    "With an arm, lift the blue rounded-bottom cup, keep it away from the white shampoo bottle with golden top, and drop it onto the smooth round palm-sized coaster.",
+    "Use an arm to move the cup with smooth plastic surface around the medium shampoo container and rest the cup with smooth plastic surface on the round coaster with light streaks.",
+    "With an arm, lift the light blue plastic cup, guide it past the white shampoo bottle, and put the light blue plastic cup on the coaster made of smooth wood.",
+    "Grab the smooth blue drinking cup, swing it away from <the white shampoo bottle with golden top>, and place the smooth blue drinking cup on <the grainy texture coaster>.",
+    "Slide the medium-sized plastic blue cup toward the small coaster with grain texture, detouring around the rectangular shampoo bottle with rounded top, then set the medium-sized plastic blue cup down.",
+    "Using an arm, move the medium blue cylindrical cup to <the light gray round grainy coaster> while avoiding <the white shampoo bottle with golden top>, then release the medium blue cylindrical cup.",
+    "Use an arm, take the cup with smooth plastic surface past the hand-held shampoo bottle without nearing it, and rest the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Move the blue rounded-bottom cup to the coaster made of smooth wood without crossing the hand-held shampoo bottle, then release the blue rounded-bottom cup.",
+    "With an arm, lift the cup with light blue color, route past <the plastic shampoo bottle with smooth surface>, and drop the cup with light blue color onto <the light gray round grainy coaster>.",
+    "Take the plastic cup for drinks, keep its path away from the white shampoo bottle, and place the plastic cup for drinks on the wooden coaster.",
+    "Using an arm, carry the cup with light blue color past <the shampoo bottle with rectangular base> and place the cup with light blue color squarely on <the round coaster>.",
+    "Lift the cup with smooth plastic surface, steer away from <the medium shampoo container>, then place the cup with smooth plastic surface on <the coaster made of smooth wood>.",
+    "With an arm, lift the light blue plastic cup, avoid <the plastic shampoo bottle with smooth surface> on the way, and drop the light blue plastic cup on <the coaster made of smooth wood>.",
+    "Carry the medium-sized plastic blue cup toward <the smooth round palm-sized coaster>, skirting <the smooth shampoo container>, and set the medium-sized plastic blue cup down.",
+    "Use an arm: grab the plastic cup for drinks, avoid the bottle for shampoo with glossy finish on the way, then set the plastic cup for drinks on the round coaster with light streaks.",
+    "Lift the medium blue cylindrical cup, carry it around the white bottle with golden accents, and place the medium blue cylindrical cup squarely on the smooth round palm-sized coaster.",
+    "Guide the medium-sized plastic blue cup with the arm around <the smooth shampoo container> and onto <the light gray round grainy coaster>.",
+    "Move the medium blue cylindrical cup onto <the light gray streaked wooden coaster> and ensure the path stays away from <the medium shampoo container>.",
+    "Pick up the cylindrical light blue cup, guide it past the smooth shampoo container, and drop the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Take the medium-sized plastic blue cup, keep its path away from the white bottle with golden accents, and drop the medium-sized plastic blue cup on the small coaster with grain texture.",
+    "Secure the cup with light blue color, keep its path away from the plastic shampoo bottle with smooth surface, and set the cup with light blue color on the coaster made of smooth wood.",
+    "Use an arm to lift the cup for holding liquids, arc around the bottle for shampoo with glossy finish, and place the cup for holding liquids atop the light gray streaked wooden coaster.",
+    "Pick up the medium-sized plastic blue cup, avoid the smooth shampoo container along the way, and place the medium-sized plastic blue cup on the round coaster.",
+    "Use an arm to take the cup with light blue color around <the white bottle with golden accents> and place the cup with light blue color on <the coaster with circular shape>.",
+    "Use the arm to move the cup for holding liquids past <the bottle with yellow cap> and rest it on <the smooth round palm-sized coaster>.",
+    "Slide the smooth blue drinking cup over to <the small coaster with grain texture> without passing near <the bottle with yellow cap>.",
+    "Using an arm, grasp the smooth blue drinking cup, skirt the shampoo bottle, and place the smooth blue drinking cup atop the small coaster with grain texture.",
+    "Pick up the rounded base blue cup, keep its path away from <the white bottle with golden accents>, and set the rounded base blue cup on <the smooth round palm-sized coaster>.",
+    "Pick up the cup for holding liquids, route it away from the rectangular shampoo bottle with rounded top, then set the cup for holding liquids on the wooden coaster.",
+    "Take the cylindrical light blue cup, route it away from the bottle with yellow cap, and set the cylindrical light blue cup onto the flat round wooden coaster.",
+    "Lift the light blue plastic cup, keep clear of the bottle with yellow cap, and put the light blue plastic cup down on the grainy texture coaster.",
+    "Take the blue rounded-bottom cup, swing wide of the white bottle with golden accents, then rest the blue rounded-bottom cup on the light gray round grainy coaster.",
+    "Use an arm to bring the plastic cup for drinks to the light gray streaked wooden coaster, keeping the plastic cup for drinks clear of the rectangular shampoo bottle with rounded top.",
+    "Use the arm to lift the rounded base blue cup, pass the white shampoo bottle, and place the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Move the rounded base blue cup onto the coaster made of smooth wood while avoiding the rectangular shampoo bottle with rounded top, then let go of the rounded base blue cup.",
+    "Use an arm, pick the smooth blue cup for liquids up, pass around the white shampoo bottle with golden top, then place the smooth blue cup for liquids on the smooth round palm-sized coaster.",
+    "Grab the blue rounded-bottom cup, route around the medium shampoo container, then lower the blue rounded-bottom cup onto the small coaster with grain texture.",
+    "With an arm, take the smooth blue drinking cup, avoid the white shampoo bottle, and put the smooth blue drinking cup on the small coaster with grain texture."
+  ],
+  "unseen": [
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with rounded yellow cap, and set it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the white plastic shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with rounded yellow cap, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with rounded yellow cap>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the white plastic shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the medium-sized shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo bottle with rounded yellow cap>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the medium-sized shampoo bottle, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white plastic shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the medium-sized shampoo bottle, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the medium-sized shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the medium-sized shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with rounded yellow cap>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the medium-sized shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the medium-sized shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the medium-sized shampoo bottle, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the medium-sized shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the white plastic shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the medium-sized shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, avoid the white plastic shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the white plastic shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with rounded yellow cap, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the medium-sized shampoo bottle>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the white plastic shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the white plastic shampoo bottle, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the white plastic shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the white plastic shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Grab the blue cup, route it around <the white plastic shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the medium-sized shampoo bottle, and set it on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the medium-sized shampoo bottle, and place the small smooth cup on the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with rounded yellow cap>, and place the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the light gray coaster.",
+    "Grab the blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, steer it around the medium-sized shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the blue cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the white plastic shampoo bottle>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the medium-sized shampoo bottle, and set it on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with rounded yellow cap, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the white plastic shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the medium-sized shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the medium-sized shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the medium-sized shampoo bottle, and place it on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the medium-sized shampoo bottle>, and place it on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo bottle with rounded yellow cap>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the white plastic shampoo bottle, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the white plastic shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white plastic shampoo bottle, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white plastic shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with rounded yellow cap, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the medium-sized shampoo bottle>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the medium-sized shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the medium-sized shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with rounded yellow cap, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the white plastic shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the white plastic shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the medium-sized shampoo bottle, and place the blue cup on the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode4.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..38ee3c812f7890f5b772ca75f572b124d7a4f858
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue rounded-bottom cup, guide it away from the hand-sized shampoo bottle, and set the blue rounded-bottom cup neatly on the flat round wooden coaster.",
+    "Grab the cup with smooth plastic surface, route around the hand-sized shampoo bottle, then lower the cup with smooth plastic surface onto the small coaster with grain texture.",
+    "Move the smooth blue drinking cup onto the light gray round grainy coaster while avoiding the shampoo container with dispensing pump, then let go of the smooth blue drinking cup.",
+    "Lift the cylindrical light blue cup, route it away from the plastic shampoo container, then put the cylindrical light blue cup squarely on the small coaster with grain texture.",
+    "Use the arm to lift the rounded base blue cup, pass the hand-sized shampoo bottle, and place the rounded base blue cup on the wooden coaster.",
+    "Secure the rounded base blue cup, move it around the shampoo bottle with black pump, and place the rounded base blue cup squarely on the wooden coaster.",
+    "Use the arm to carry the blue rounded-bottom cup around the green shampoo bottle, then rest the blue rounded-bottom cup on the flat round wooden coaster.",
+    "With an arm, move the cup for holding liquids past the shampoo container with dispensing pump and place the cup for holding liquids on the smooth round palm-sized coaster.",
+    "With an arm, lift the blue rounded-bottom cup, route past <the shampoo bottle with smooth surface>, and drop the blue rounded-bottom cup onto <the flat surface gray wooden coaster>.",
+    "Using an arm, move the smooth blue cup for liquids to <the coaster made of smooth wood> while avoiding <the plastic shampoo container>, then release the smooth blue cup for liquids.",
+    "Using an arm, pick the cup for holding liquids up, skirt the plastic shampoo container, and place the cup for holding liquids on the grainy texture coaster.",
+    "Lift the medium blue cylindrical cup, guide it past the plastic shampoo container, and rest the medium blue cylindrical cup on the small coaster with grain texture.",
+    "Take the cylindrical light blue cup in the arm, route around <the plastic shampoo container>, and set it on <the flat surface gray wooden coaster>.",
+    "Use an arm to take the rounded base blue cup around <the rectangular green plastic shampoo dispenser> and place the rounded base blue cup on <the light gray round grainy coaster>.",
+    "Use an arm, take the smooth blue cup for liquids past the shampoo bottle with smooth surface without nearing it, and rest the smooth blue cup for liquids on the coaster with circular shape.",
+    "Take the plastic cup for drinks, keep its path away from the green shampoo bottle, and drop the plastic cup for drinks on the round coaster with light streaks.",
+    "Use an arm to bring the cup for holding liquids to the small coaster with grain texture, keeping the cup for holding liquids clear of the shampoo bottle with black pump.",
+    "Move the smooth blue drinking cup toward the coaster made of smooth wood without passing near the rectangular dark green shampoo bottle, then set it down.",
+    "Guide the blue rounded-bottom cup with the arm around <the hand-sized shampoo bottle> and onto <the coaster made of smooth wood>.",
+    "Arm-lift the cylindrical light blue cup, swing around <the shampoo container with dispensing pump>, then place the cylindrical light blue cup onto <the coaster made of smooth wood>.",
+    "Using an arm, grasp the medium-sized plastic blue cup, skirt the hand-sized shampoo bottle, and place the medium-sized plastic blue cup atop the flat surface gray wooden coaster.",
+    "Pick up the cup with light blue color, route it away from the dark green bottle with pump, then set the cup with light blue color on the round coaster with light streaks.",
+    "Use an arm to move the medium-sized plastic blue cup to the light gray round grainy coaster, keeping the medium-sized plastic blue cup from bumping the shampoo bottle, green with black cap.",
+    "With an arm, lift the cup with smooth plastic surface, avoid <the green shampoo bottle> on the way, and drop the cup with smooth plastic surface on <the flat surface gray wooden coaster>.",
+    "Pick the rounded base blue cup up, route it away from the hand-sized shampoo bottle, and drop the rounded base blue cup onto the smooth round palm-sized coaster.",
+    "Take the cup for holding liquids, route it away from the rectangular dark green shampoo bottle, and set the cup for holding liquids onto the small coaster with grain texture.",
+    "With an arm, bring the plastic cup for drinks over to <the round coaster with light streaks> and keep clear of <the dark green bottle with pump>.",
+    "Use an arm, pick the cup with smooth plastic surface up, pass around the shampoo bottle, green with black cap, then place the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Use an arm to grab the cup for holding liquids, avoid the shampoo bottle with smooth surface, and set the cup for holding liquids down on the coaster made of smooth wood.",
+    "Use the arm to move the blue rounded-bottom cup past <the plastic shampoo container> and rest it on <the flat surface gray wooden coaster>.",
+    "Use an arm, keep the cylindrical light blue cup from the hand-sized shampoo bottle, and lower the cylindrical light blue cup onto the round coaster.",
+    "Pick up the light blue plastic cup, avoid the shampoo bottle, green with black cap along the way, and place the light blue plastic cup on the round coaster.",
+    "Lift the medium blue cylindrical cup, carry it around the shampoo container with dispensing pump, and place the medium blue cylindrical cup squarely on the smooth round palm-sized coaster.",
+    "Using an arm, pick the medium-sized plastic blue cup up, skirt the shampoo bottle, green with black cap, and place the medium-sized plastic blue cup on the flat surface gray wooden coaster.",
+    "Slide the smooth blue drinking cup over to <the light gray round grainy coaster> without passing near <the shampoo bottle with black pump>.",
+    "Move the light blue plastic cup to <the wooden coaster> while keeping the light blue plastic cup away from <the shampoo bottle with matte black pump>, then release.",
+    "Pick up the blue rounded-bottom cup, guide it past the shampoo bottle with smooth surface, and drop the blue rounded-bottom cup on the wooden coaster.",
+    "Use an arm: take the cup with smooth plastic surface, avoid the medium size shampoo bottle during the move, and drop it on the round coaster.",
+    "Move the cylindrical light blue cup to the light gray streaked wooden coaster while avoiding the shampoo container with dispensing pump, then place the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Lift the cylindrical light blue cup, steer away from <the medium size shampoo bottle>, then place the cylindrical light blue cup on <the flat round wooden coaster>.",
+    "With an arm, lift the plastic cup for drinks, avoid the shampoo bottle with smooth surface, and place the plastic cup for drinks on the round coaster.",
+    "With an arm, lift the cup for holding liquids, guide it past the green shampoo bottle, and put the cup for holding liquids on the small coaster with grain texture.",
+    "Lift the cup with smooth plastic surface, pass beside <the shampoo bottle with black pump> without contact, then place the cup with smooth plastic surface onto <the smooth round palm-sized coaster>.",
+    "Carry the medium blue cylindrical cup toward <the coaster made of smooth wood>, keeping the path clear of <the shampoo bottle, green with black cap>, then set down.",
+    "Use an arm: grasp the light blue plastic cup, avoid <the shampoo bottle with matte black pump>, and place the light blue plastic cup on <the smooth round palm-sized coaster>.",
+    "Grab the rounded base blue cup, swing it away from <the dark green bottle with pump>, and place the rounded base blue cup on <the flat surface gray wooden coaster>.",
+    "Carry the cylindrical light blue cup toward <the coaster made of smooth wood>, keeping clear of <the rectangular dark green shampoo bottle>, and set the cylindrical light blue cup down.",
+    "Use an arm: pick the cup with smooth plastic surface up, skirt <the green shampoo bottle>, then place the cup with smooth plastic surface onto <the grainy texture coaster>.",
+    "Lift the medium blue cylindrical cup, arc around the dark green bottle with pump, and place the medium blue cylindrical cup squarely on the small coaster with grain texture.",
+    "Slide the smooth blue drinking cup toward the round coaster with light streaks, detouring around the rectangular green plastic shampoo dispenser, then set the smooth blue drinking cup down.",
+    "Lift the medium-sized plastic blue cup, pass by the shampoo container with dispensing pump without contact, then place the medium-sized plastic blue cup on the grainy texture coaster.",
+    "Move the cup with light blue color to the smooth round palm-sized coaster without crossing the green shampoo bottle, then release the cup with light blue color.",
+    "Use an arm to lift the plastic cup for drinks, arc around the plastic shampoo container, and place the plastic cup for drinks atop the light gray streaked wooden coaster.",
+    "Carry the light blue plastic cup toward <the smooth round palm-sized coaster>, skirting <the plastic shampoo container>, and set the light blue plastic cup down.",
+    "With an arm, take the plastic cup for drinks, avoid the shampoo container with dispensing pump, and put the plastic cup for drinks on the round coaster with light streaks.",
+    "Lift the medium blue cylindrical cup, go around the shampoo container with dispensing pump, and position the medium blue cylindrical cup squarely on the coaster with circular shape.",
+    "Take the smooth blue cup for liquids to the flat round wooden coaster while skirting the shampoo bottle with black pump, then release the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Take the medium-sized plastic blue cup, arc around <the plastic shampoo container>, and place the medium-sized plastic blue cup neatly on <the light gray streaked wooden coaster>.",
+    "Carry the medium-sized plastic blue cup toward the flat round wooden coaster, keeping the medium-sized plastic blue cup away from the green shampoo bottle, then set down.",
+    "Use an arm: grab the medium-sized plastic blue cup, avoid the dark green bottle with pump on the way, then set the medium-sized plastic blue cup on the round coaster.",
+    "Pick up the plastic cup for drinks, keep clear of <the medium size shampoo bottle>, and drop the plastic cup for drinks onto <the coaster with circular shape>.",
+    "Using an arm, carry the smooth blue drinking cup around the dark green bottle with pump and place the smooth blue drinking cup onto the light gray streaked wooden coaster.",
+    "Lift the medium-sized plastic blue cup, guide it around <the plastic shampoo container>, then put the medium-sized plastic blue cup onto <the round coaster with light streaks>.",
+    "Pick up the cup for holding liquids, keep its path away from <the plastic shampoo container>, and set the cup for holding liquids on <the small coaster with grain texture>.",
+    "With an arm, lift the light blue plastic cup, avoid the rectangular green plastic shampoo dispenser, and set the light blue plastic cup onto the coaster made of smooth wood.",
+    "Use an arm to lift the blue rounded-bottom cup, keep distance from <the shampoo bottle with black pump>, and set the blue rounded-bottom cup on <the wooden coaster>.",
+    "With an arm, pick the smooth blue cup for liquids up, bypass <the green shampoo bottle>, then place the smooth blue cup for liquids on <the wooden coaster>.",
+    "With an arm, lift the cup for holding liquids, keep it away from the shampoo bottle with matte black pump, and drop it onto the flat round wooden coaster.",
+    "Take the cup with smooth plastic surface, guide it away from <the dark green bottle with pump>, and place the cup with smooth plastic surface squarely on <the grainy texture coaster>.",
+    "Move the medium-sized plastic blue cup onto the flat round wooden coaster while avoiding the shampoo bottle with smooth surface, then let go of the medium-sized plastic blue cup.",
+    "Lift the cup with smooth plastic surface, keep clear of the rectangular dark green shampoo bottle, and put the cup with smooth plastic surface down on the coaster made of smooth wood.",
+    "Move the cup for holding liquids to <the coaster made of smooth wood> while keeping its path away from <the rectangular green plastic shampoo dispenser>.",
+    "Use an arm to move the medium blue cylindrical cup around the shampoo bottle, green with black cap and rest the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Take the cup with light blue color, swing wide of the green shampoo bottle, then rest the cup with light blue color on the light gray streaked wooden coaster.",
+    "Secure the light blue plastic cup, keep its path away from the shampoo bottle with matte black pump, and set the light blue plastic cup on the light gray round grainy coaster.",
+    "Move the light blue plastic cup onto <the wooden coaster> and ensure the path stays away from <the plastic shampoo container>.",
+    "Use an arm to move the medium-sized plastic blue cup toward the grainy texture coaster, keeping the medium-sized plastic blue cup clear of the shampoo bottle with matte black pump.",
+    "Take the rounded base blue cup, keep its path away from the medium size shampoo bottle, and place the rounded base blue cup on the coaster with circular shape.",
+    "Using an arm, carry the cylindrical light blue cup past <the shampoo bottle with smooth surface> and place the cylindrical light blue cup squarely on <the wooden coaster>.",
+    "Use an arm, take the cylindrical light blue cup, avoid <the hand-sized shampoo bottle> on the way, and set on <the small coaster with grain texture>.",
+    "Grab the cup with light blue color, guide it away from the rectangular dark green shampoo bottle, and set the cup with light blue color neatly on the coaster with circular shape.",
+    "Grab the cup for holding liquids, route around the rectangular dark green shampoo bottle, then lower the cup for holding liquids onto the smooth round palm-sized coaster.",
+    "Move the medium-sized plastic blue cup onto the flat surface gray wooden coaster while avoiding the rectangular dark green shampoo bottle, then let go of the medium-sized plastic blue cup.",
+    "Lift the smooth blue drinking cup, route it away from the hand-sized shampoo bottle, then put the smooth blue drinking cup squarely on the wooden coaster.",
+    "Use the arm to lift the rounded base blue cup, pass the medium size shampoo bottle, and place the rounded base blue cup on the flat round wooden coaster.",
+    "Secure the light blue plastic cup, move it around the dark green bottle with pump, and place the light blue plastic cup squarely on the light gray round grainy coaster.",
+    "Use the arm to carry the rounded base blue cup around the shampoo bottle with matte black pump, then rest the rounded base blue cup on the round coaster with light streaks.",
+    "With an arm, move the plastic cup for drinks past the shampoo bottle with black pump and place the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "With an arm, lift the medium blue cylindrical cup, route past <the rectangular green plastic shampoo dispenser>, and drop the medium blue cylindrical cup onto <the coaster with circular shape>.",
+    "Using an arm, move the medium blue cylindrical cup to <the round coaster with light streaks> while avoiding <the shampoo bottle, green with black cap>, then release the medium blue cylindrical cup.",
+    "Using an arm, pick the medium-sized plastic blue cup up, skirt the rectangular dark green shampoo bottle, and place the medium-sized plastic blue cup on the wooden coaster.",
+    "Lift the smooth blue drinking cup, guide it past the shampoo container with dispensing pump, and rest the smooth blue drinking cup on the smooth round palm-sized coaster.",
+    "Take the cup for holding liquids in the arm, route around <the shampoo bottle with matte black pump>, and set it on <the flat surface gray wooden coaster>.",
+    "Use an arm to take the cup for holding liquids around <the shampoo bottle, green with black cap> and place the cup for holding liquids on <the smooth round palm-sized coaster>.",
+    "Use an arm, take the smooth blue drinking cup past the dark green bottle with pump without nearing it, and rest the smooth blue drinking cup on the flat round wooden coaster.",
+    "Take the plastic cup for drinks, keep its path away from the shampoo bottle with smooth surface, and drop the plastic cup for drinks on the round coaster with light streaks.",
+    "Use an arm to bring the plastic cup for drinks to the round coaster, keeping the plastic cup for drinks clear of the medium size shampoo bottle.",
+    "Move the cylindrical light blue cup toward the light gray round grainy coaster without passing near the shampoo bottle with smooth surface, then set it down.",
+    "Guide the cylindrical light blue cup with the arm around <the shampoo bottle with smooth surface> and onto <the grainy texture coaster>.",
+    "Arm-lift the medium-sized plastic blue cup, swing around <the rectangular green plastic shampoo dispenser>, then place the medium-sized plastic blue cup onto <the smooth round palm-sized coaster>."
+  ],
+  "unseen": [
+    "Grab the blue cup, carry it around the green bottle with pump top, then set the blue cup down on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the dark green pump shampoo bottle, and set the blue cup on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle for personal use>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle for personal use, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the green bottle with pump top, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the dark green pump shampoo bottle>, and place the small smooth cup on <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the green bottle with pump top>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle for personal use, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the green bottle with pump top>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the green bottle with pump top, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the green bottle with pump top, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the dark green pump shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle for personal use, then set the handheld round blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the dark green pump shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the dark green pump shampoo bottle, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle for personal use>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo bottle for personal use, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle for personal use, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle for personal use>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle for personal use, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the dark green pump shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo bottle for personal use>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle for personal use>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo bottle for personal use, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the dark green pump shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle for personal use, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the dark green pump shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the dark green pump shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the green bottle with pump top, then set the small smooth cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the dark green pump shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle for personal use, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the dark green pump shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the green bottle with pump top, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle for personal use, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the dark green pump shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the green bottle with pump top, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the green bottle with pump top, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the green bottle with pump top>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the dark green pump shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the green bottle with pump top, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the green bottle with pump top>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the green bottle with pump top, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the dark green pump shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the dark green pump shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the green bottle with pump top, then set the handheld round blue cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the dark green pump shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the green bottle with pump top, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle for personal use>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle for personal use, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle for personal use, and set the blue cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the dark green pump shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle for personal use, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle for personal use, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle for personal use>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle for personal use>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the green bottle with pump top, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the dark green pump shampoo bottle>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the dark green pump shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the dark green pump shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle for personal use, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the green bottle with pump top, then set the handheld round blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the green bottle with pump top>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle for personal use, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the dark green pump shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the dark green pump shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the dark green pump shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle for personal use>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle for personal use, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle for personal use, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo bottle for personal use>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the green bottle with pump top>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo bottle for personal use, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the green bottle with pump top>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the green bottle with pump top, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the green bottle with pump top, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the green bottle with pump top, and place it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle for personal use, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle for personal use>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the green bottle with pump top, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle for personal use>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the green bottle with pump top, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the dark green pump shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle for personal use>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle for personal use, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle for personal use, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the dark green pump shampoo bottle>, and place the small smooth cup on <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the green bottle with pump top>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the dark green pump shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the green bottle with pump top>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle for personal use, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the dark green pump shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the dark green pump shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the green bottle with pump top, then set the handheld round blue cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle for personal use>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the dark green pump shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the green bottle with pump top>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the green bottle with pump top, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the dark green pump shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle for personal use>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle for personal use, and place the blue cup on the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode40.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b626fa23e80d9b2bfbdeb7012ca5ed50c895d28
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm to lift the light blue plastic cup, keep distance from <the smooth white shampoo dispenser>, and set the light blue plastic cup on <the light gray round grainy coaster>.",
+    "Using an arm, carry the smooth blue cup for liquids around the smooth white shampoo dispenser and place the smooth blue cup for liquids onto the wooden coaster.",
+    "Slide the blue rounded-bottom cup over to <the grainy texture coaster> without passing near <the plastic shampoo container>.",
+    "Use an arm: pick the cylindrical light blue cup up, skirt <the oval-shaped shampoo bottle>, then place the cylindrical light blue cup onto <the small coaster with grain texture>.",
+    "Use an arm to move the cup with light blue color toward the smooth round palm-sized coaster, keeping the cup with light blue color clear of the plastic shampoo container.",
+    "Pick the cup with smooth plastic surface up, route it away from the medium oval plastic shampoo container, and drop the cup with smooth plastic surface onto the flat round wooden coaster.",
+    "Lift the medium blue cylindrical cup, pass beside <the smooth white shampoo dispenser> without contact, then place the medium blue cylindrical cup onto <the light gray round grainy coaster>.",
+    "Guide the cup for holding liquids with the arm around <the pink-topped shampoo bottle> and onto <the light gray round grainy coaster>.",
+    "Lift the plastic cup for drinks, route it away from the hand-sized shampoo bottle, then put the plastic cup for drinks squarely on the smooth round palm-sized coaster.",
+    "Lift the rounded base blue cup, guide it past the oval-shaped shampoo bottle, and rest the rounded base blue cup on the small coaster with grain texture.",
+    "Move the medium blue cylindrical cup toward the grainy texture coaster without passing near the shampoo bottle with pink cap, then set it down.",
+    "Lift the smooth blue drinking cup, steer away from <the pink-topped shampoo bottle>, then place the smooth blue drinking cup on <the wooden coaster>.",
+    "Use an arm to bring the cup for holding liquids to the flat round wooden coaster, keeping the cup for holding liquids clear of the white body pink flip cap bottle.",
+    "Move the cylindrical light blue cup onto <the coaster made of smooth wood> and ensure the path stays away from <the pink-topped shampoo bottle>.",
+    "Grab the medium blue cylindrical cup, swing it away from <the oval-shaped shampoo bottle>, and place the medium blue cylindrical cup on <the wooden coaster>.",
+    "Take the cup for holding liquids in the arm, route around <the white shampoo bottle>, and set it on <the light gray streaked wooden coaster>.",
+    "With an arm, lift the cup with light blue color, route past <the medium oval plastic shampoo container>, and drop the cup with light blue color onto <the flat surface gray wooden coaster>.",
+    "Pick up the cup for holding liquids, guide it past the hand-sized shampoo bottle, and drop the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Using an arm, move the smooth blue drinking cup to <the smooth round palm-sized coaster> while avoiding <the glossy white shampoo bottle>, then release the smooth blue drinking cup.",
+    "Pick up the blue rounded-bottom cup, route it away from the hand-sized shampoo bottle, then set the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "Use an arm to lift the cup for holding liquids, arc around the plastic shampoo container, and place the cup for holding liquids atop the round coaster with light streaks.",
+    "With an arm, lift the cup with light blue color, guide it past the medium oval plastic shampoo container, and put the cup with light blue color on the smooth round palm-sized coaster.",
+    "Lift the cylindrical light blue cup, go around the medium oval plastic shampoo container, and position the cylindrical light blue cup squarely on the round coaster.",
+    "Use an arm: grasp the rounded base blue cup, avoid <the shampoo bottle with pink cap>, and place the rounded base blue cup on <the smooth round palm-sized coaster>.",
+    "With an arm, bring the medium blue cylindrical cup over to <the flat surface gray wooden coaster> and keep clear of <the medium shampoo bottle>.",
+    "Carry the smooth blue cup for liquids toward <the flat surface gray wooden coaster>, keeping clear of <the oval-shaped shampoo bottle>, and set the smooth blue cup for liquids down.",
+    "Lift the cup with light blue color, carry it around the hand-sized shampoo bottle, and place the cup with light blue color squarely on the flat surface gray wooden coaster.",
+    "With an arm, lift the rounded base blue cup, avoid the shampoo dispenser with flat base, and place the rounded base blue cup on the coaster with circular shape.",
+    "Use the arm to lift the plastic cup for drinks, pass the plastic shampoo container, and place the plastic cup for drinks on the coaster with circular shape.",
+    "Using an arm, carry the cup with light blue color past <the glossy white shampoo bottle> and place the cup with light blue color squarely on <the round coaster>.",
+    "Arm-lift the cylindrical light blue cup, swing around <the white body pink flip cap bottle>, then place the cylindrical light blue cup onto <the small coaster with grain texture>.",
+    "Use an arm to grab the cylindrical light blue cup, avoid the shampoo bottle with pink cap, and set the cylindrical light blue cup down on the flat round wooden coaster.",
+    "Use an arm, pick the cup with light blue color up, pass around the white shampoo bottle, then place the cup with light blue color on the coaster made of smooth wood.",
+    "Take the rounded base blue cup, keep its path away from the smooth white shampoo dispenser, and place the rounded base blue cup on the smooth round palm-sized coaster.",
+    "Use an arm, take the light blue plastic cup past the medium shampoo bottle without nearing it, and rest the light blue plastic cup on the wooden coaster.",
+    "Move the light blue plastic cup to the coaster with circular shape without crossing the shampoo dispenser with flat base, then release the light blue plastic cup.",
+    "Move the cup for holding liquids onto the flat surface gray wooden coaster while avoiding the white shampoo bottle, then let go of the cup for holding liquids.",
+    "Pick up the cup with smooth plastic surface, avoid the medium shampoo bottle along the way, and place the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Lift the medium blue cylindrical cup, pass by the medium oval plastic shampoo container without contact, then place the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Use an arm: grab the medium-sized plastic blue cup, avoid the plastic shampoo container on the way, then set the medium-sized plastic blue cup on the wooden coaster.",
+    "Take the rounded base blue cup, arc around <the shampoo dispenser with flat base>, and place the rounded base blue cup neatly on <the round coaster with light streaks>.",
+    "With an arm, lift the plastic cup for drinks, avoid the smooth white shampoo dispenser, and set the plastic cup for drinks onto the coaster with circular shape.",
+    "Lift the smooth blue cup for liquids, guide it around <the medium shampoo bottle>, then put the smooth blue cup for liquids onto <the small coaster with grain texture>.",
+    "Pick up the plastic cup for drinks, keep clear of <the plastic shampoo container>, and drop the plastic cup for drinks onto <the flat round wooden coaster>.",
+    "Use the arm to move the rounded base blue cup past <the oval-shaped shampoo bottle> and rest it on <the flat surface gray wooden coaster>.",
+    "Slide the blue rounded-bottom cup toward the flat round wooden coaster, detouring around the shampoo bottle with pink cap, then set the blue rounded-bottom cup down.",
+    "Use an arm, take the medium blue cylindrical cup, avoid <the hand-sized shampoo bottle> on the way, and set on <the small coaster with grain texture>.",
+    "Carry the cup with light blue color toward <the flat round wooden coaster>, skirting <the medium oval plastic shampoo container>, and set the cup with light blue color down.",
+    "With an arm, move the cup for holding liquids past the hand-sized shampoo bottle and place the cup for holding liquids on the coaster made of smooth wood.",
+    "Lift the smooth blue drinking cup, keep clear of the plastic shampoo container, and put the smooth blue drinking cup down on the light gray round grainy coaster.",
+    "With an arm, pick the rounded base blue cup up, bypass <the oval-shaped shampoo bottle>, then place the rounded base blue cup on <the coaster with circular shape>.",
+    "Carry the cup with light blue color toward the flat round wooden coaster, keeping the cup with light blue color away from the glossy white shampoo bottle, then set down.",
+    "Move the plastic cup for drinks onto the coaster with circular shape while avoiding the shampoo dispenser with flat base, then let go of the plastic cup for drinks.",
+    "Pick up the rounded base blue cup, keep its path away from <the shampoo bottle with pink cap>, and set the rounded base blue cup on <the round coaster with light streaks>.",
+    "Using an arm, grasp the smooth blue drinking cup, skirt the hand-sized shampoo bottle, and place the smooth blue drinking cup atop the grainy texture coaster.",
+    "Grab the cylindrical light blue cup, route around the oval-shaped shampoo bottle, then lower the cylindrical light blue cup onto the small coaster with grain texture.",
+    "Use an arm: take the smooth blue cup for liquids, avoid the oval-shaped shampoo bottle during the move, and drop it on the round coaster.",
+    "Use the arm to carry the medium-sized plastic blue cup around the shampoo dispenser with flat base, then rest the medium-sized plastic blue cup on the small coaster with grain texture.",
+    "Take the rounded base blue cup, keep its path away from the medium shampoo bottle, and drop the rounded base blue cup on the light gray round grainy coaster.",
+    "Secure the blue rounded-bottom cup, keep its path away from the medium shampoo bottle, and set the blue rounded-bottom cup on the round coaster.",
+    "Grab the cup with smooth plastic surface, guide it away from the glossy white shampoo bottle, and set the cup with smooth plastic surface neatly on the smooth round palm-sized coaster.",
+    "Using an arm, pick the rounded base blue cup up, skirt the medium shampoo bottle, and place the rounded base blue cup on the smooth round palm-sized coaster.",
+    "Take the blue rounded-bottom cup, guide it away from <the hand-sized shampoo bottle>, and place the blue rounded-bottom cup squarely on <the coaster with circular shape>.",
+    "Move the cup for holding liquids to <the smooth round palm-sized coaster> while keeping the cup for holding liquids away from <the plastic shampoo container>, then release.",
+    "Use an arm to move the light blue plastic cup around the shampoo bottle with pink cap and rest the light blue plastic cup on the grainy texture coaster.",
+    "Move the smooth blue cup for liquids to the flat round wooden coaster while avoiding the white shampoo bottle, then place the smooth blue cup for liquids on the flat round wooden coaster.",
+    "With an arm, lift the cup for holding liquids, keep it away from the white shampoo bottle, and drop it onto the round coaster with light streaks.",
+    "With an arm, lift the blue rounded-bottom cup, avoid <the glossy white shampoo bottle> on the way, and drop the blue rounded-bottom cup on <the light gray streaked wooden coaster>.",
+    "Take the cup with smooth plastic surface, route it away from the shampoo dispenser with flat base, and set the cup with smooth plastic surface onto the wooden coaster.",
+    "Take the cup with smooth plastic surface to the coaster made of smooth wood while skirting the medium oval plastic shampoo container, then release the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Lift the cylindrical light blue cup, arc around the plastic shampoo container, and place the cylindrical light blue cup squarely on the light gray streaked wooden coaster.",
+    "Take the cup with smooth plastic surface, swing wide of the white body pink flip cap bottle, then rest the cup with smooth plastic surface on the round coaster with light streaks.",
+    "Move the cylindrical light blue cup to <the grainy texture coaster> while keeping its path away from <the hand-sized shampoo bottle>.",
+    "Use an arm to move the smooth blue cup for liquids to the light gray round grainy coaster, keeping the smooth blue cup for liquids from bumping the pink-topped shampoo bottle.",
+    "Use an arm, keep the medium-sized plastic blue cup from the medium shampoo bottle, and lower the medium-sized plastic blue cup onto the smooth round palm-sized coaster.",
+    "Carry the cup for holding liquids toward <the light gray streaked wooden coaster>, keeping the path clear of <the white body pink flip cap bottle>, then set down.",
+    "Using an arm, pick the light blue plastic cup up, skirt the smooth white shampoo dispenser, and place the light blue plastic cup on the light gray round grainy coaster.",
+    "Use an arm to take the plastic cup for drinks around <the medium shampoo bottle> and place the plastic cup for drinks on <the coaster made of smooth wood>.",
+    "With an arm, take the cylindrical light blue cup, avoid the hand-sized shampoo bottle, and put the cylindrical light blue cup on the wooden coaster.",
+    "Secure the rounded base blue cup, move it around the shampoo dispenser with flat base, and place the rounded base blue cup squarely on the smooth round palm-sized coaster.",
+    "Use an arm to lift the cup with smooth plastic surface, keep distance from <the shampoo dispenser with flat base>, and set the cup with smooth plastic surface on <the wooden coaster>.",
+    "Using an arm, carry the rounded base blue cup around the oval-shaped shampoo bottle and place the rounded base blue cup onto the coaster with circular shape.",
+    "Slide the medium-sized plastic blue cup over to <the flat surface gray wooden coaster> without passing near <the medium oval plastic shampoo container>.",
+    "Use an arm: pick the smooth blue cup for liquids up, skirt <the plastic shampoo container>, then place the smooth blue cup for liquids onto <the coaster with circular shape>.",
+    "Use an arm to move the light blue plastic cup toward the small coaster with grain texture, keeping the light blue plastic cup clear of the shampoo bottle with pink cap.",
+    "Pick the smooth blue cup for liquids up, route it away from the oval-shaped shampoo bottle, and drop the smooth blue cup for liquids onto the light gray round grainy coaster.",
+    "Lift the smooth blue drinking cup, pass beside <the smooth white shampoo dispenser> without contact, then place the smooth blue drinking cup onto <the small coaster with grain texture>.",
+    "Guide the rounded base blue cup with the arm around <the hand-sized shampoo bottle> and onto <the light gray streaked wooden coaster>.",
+    "Lift the rounded base blue cup, route it away from the medium shampoo bottle, then put the rounded base blue cup squarely on the small coaster with grain texture.",
+    "Lift the light blue plastic cup, guide it past the glossy white shampoo bottle, and rest the light blue plastic cup on the grainy texture coaster.",
+    "Move the smooth blue drinking cup toward the flat round wooden coaster without passing near the medium oval plastic shampoo container, then set it down.",
+    "Lift the smooth blue drinking cup, steer away from <the white shampoo bottle>, then place the smooth blue drinking cup on <the coaster with circular shape>.",
+    "Use an arm to bring the smooth blue drinking cup to the light gray streaked wooden coaster, keeping the smooth blue drinking cup clear of the hand-sized shampoo bottle.",
+    "Move the cup with light blue color onto <the coaster made of smooth wood> and ensure the path stays away from <the plastic shampoo container>.",
+    "Grab the smooth blue cup for liquids, swing it away from <the plastic shampoo container>, and place the smooth blue cup for liquids on <the flat surface gray wooden coaster>.",
+    "Take the cup with light blue color in the arm, route around <the shampoo bottle with pink cap>, and set it on <the coaster with circular shape>.",
+    "With an arm, lift the light blue plastic cup, route past <the oval-shaped shampoo bottle>, and drop the light blue plastic cup onto <the round coaster with light streaks>.",
+    "Pick up the cylindrical light blue cup, guide it past the white body pink flip cap bottle, and drop the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Using an arm, move the smooth blue cup for liquids to <the wooden coaster> while avoiding <the shampoo bottle with pink cap>, then release the smooth blue cup for liquids.",
+    "Pick up the light blue plastic cup, route it away from the medium shampoo bottle, then set the light blue plastic cup on the coaster made of smooth wood."
+  ],
+  "unseen": [
+    "Grab the blue cup, keep it clear of the bottle for holding shampoo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the Dove shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the bottle for holding shampoo, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with Dove logo, and place the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the Dove shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the Dove shampoo bottle>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the bottle for holding shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the bottle for holding shampoo>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the Dove shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle with Dove logo, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the Dove shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with Dove logo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the Dove shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the bottle for holding shampoo, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with Dove logo, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the Dove shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the Dove shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the Dove shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the Dove shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the bottle for holding shampoo>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, guide it around <the Dove shampoo bottle>, and place it on <the light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with Dove logo>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with Dove logo, and set the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the Dove shampoo bottle, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the bottle for holding shampoo>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the bottle for holding shampoo, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, route it around <the Dove shampoo bottle>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with Dove logo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the bottle for holding shampoo, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the Dove shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with Dove logo, and place the blue cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo bottle with Dove logo, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the bottle for holding shampoo>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the bottle for holding shampoo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the bottle for holding shampoo>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the bottle for holding shampoo>, and place it on <the light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the Dove shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with Dove logo, and set the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the bottle for holding shampoo, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the Dove shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with Dove logo, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, route it around <the bottle for holding shampoo>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the bottle for holding shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the Dove shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the Dove shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the Dove shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the bottle for holding shampoo, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with Dove logo>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the bottle for holding shampoo, then place the blue cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the bottle for holding shampoo>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the Dove shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the bottle for holding shampoo, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the bottle for holding shampoo>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the Dove shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo bottle with Dove logo>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the bottle for holding shampoo, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the Dove shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the Dove shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the Dove shampoo bottle, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the Dove shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the Dove shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the Dove shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the Dove shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the Dove shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with Dove logo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the bottle for holding shampoo>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the bottle for holding shampoo, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the Dove shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with Dove logo, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the bottle for holding shampoo, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the bottle for holding shampoo>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the bottle for holding shampoo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep it clear of <the Dove shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with Dove logo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with Dove logo, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with Dove logo>, and place the small smooth cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the Dove shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the bottle for holding shampoo>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with Dove logo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle with Dove logo, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with Dove logo, and place it on the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode41.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d5612347228358f1f0cae21a45b703ca90ac5e1
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Carry the cup with smooth plastic surface toward <the round coaster>, keeping clear of <the bottle with cartoon label>, and set the cup with smooth plastic surface down.",
+    "Secure the medium blue cylindrical cup, keep its path away from the yellow bottle with green top, and set the medium blue cylindrical cup on the coaster with circular shape.",
+    "Grab the smooth blue drinking cup, route around the bottle with cartoon label, then lower the smooth blue drinking cup onto the flat surface gray wooden coaster.",
+    "Use an arm to lift the medium-sized plastic blue cup, arc around the shampoo bottle with handle slot, and place the medium-sized plastic blue cup atop the wooden coaster.",
+    "Guide the smooth blue drinking cup with the arm around <the hand-sized yellow shampoo bottle> and onto <the round coaster with light streaks>.",
+    "Slide the cup with smooth plastic surface over to <the round coaster> without passing near <the shampoo bottle with handle slot>.",
+    "Use an arm, keep the cup for holding liquids from the bottle with cartoon label, and lower the cup for holding liquids onto the round coaster with light streaks.",
+    "Use an arm to move the cup for holding liquids to the round coaster with light streaks, keeping the cup for holding liquids from bumping the smooth bottle with green top.",
+    "Lift the cup for holding liquids, steer away from <the plastic shampoo bottle with label>, then place the cup for holding liquids on <the round coaster>.",
+    "Use the arm to carry the cup with light blue color around the medium shampoo bottle with pump, then rest the cup with light blue color on the small coaster with grain texture.",
+    "Using an arm, grasp the plastic cup for drinks, skirt the yellow container with green pump, and place the plastic cup for drinks atop the light gray round grainy coaster.",
+    "Use an arm, take the medium blue cylindrical cup past the shampoo with green dispensing pump without nearing it, and rest the medium blue cylindrical cup on the wooden coaster.",
+    "Take the blue rounded-bottom cup, swing wide of the smooth bottle with green top, then rest the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Take the cylindrical light blue cup, arc around <the yellow bottle with green top>, and place the cylindrical light blue cup neatly on <the round coaster>.",
+    "Pick up the cylindrical light blue cup, route it away from the shampoo with green dispensing pump, then set the cylindrical light blue cup on the small coaster with grain texture.",
+    "With an arm, bring the cup with smooth plastic surface over to <the light gray round grainy coaster> and keep clear of <the hand-sized yellow shampoo bottle>.",
+    "Use an arm: pick the smooth blue cup for liquids up, skirt <the shampoo bottle with rounded body>, then place the smooth blue cup for liquids onto <the smooth round palm-sized coaster>.",
+    "With an arm, move the cup with smooth plastic surface past the shampoo bottle with handle slot and place the cup with smooth plastic surface on the small coaster with grain texture.",
+    "Grab the smooth blue drinking cup, guide it away from the shampoo bottle with handle slot, and set the smooth blue drinking cup neatly on the smooth round palm-sized coaster.",
+    "Take the cup with light blue color in the arm, route around <the medium shampoo bottle with pump>, and set it on <the light gray streaked wooden coaster>.",
+    "Slide the plastic cup for drinks toward the coaster with circular shape, detouring around the shampoo bottle with rounded body, then set the plastic cup for drinks down.",
+    "Lift the cup for holding liquids, guide it around <the yellow bottle with green top>, then put the cup for holding liquids onto <the small coaster with grain texture>.",
+    "Move the light blue plastic cup to the smooth round palm-sized coaster while avoiding the smooth bottle with green top, then place the light blue plastic cup on the smooth round palm-sized coaster.",
+    "Arm-lift the medium-sized plastic blue cup, swing around <the yellow shampoo with cartoon design>, then place the medium-sized plastic blue cup onto <the flat round wooden coaster>.",
+    "Lift the medium-sized plastic blue cup, go around the yellow shampoo bottle, and position the medium-sized plastic blue cup squarely on the coaster with circular shape.",
+    "With an arm, take the blue rounded-bottom cup, avoid the yellow shampoo bottle, and put the blue rounded-bottom cup on the flat round wooden coaster.",
+    "Use an arm to lift the rounded base blue cup, keep distance from <the medium shampoo bottle with pump>, and set the rounded base blue cup on <the coaster with circular shape>.",
+    "Take the cup with smooth plastic surface, route it away from the plastic shampoo bottle with label, and set the cup with smooth plastic surface onto the coaster made of smooth wood.",
+    "With an arm, lift the cup with smooth plastic surface, route past <the bottle with cartoon label>, and drop the cup with smooth plastic surface onto <the coaster with circular shape>.",
+    "Lift the light blue plastic cup, pass by the shampoo with green dispensing pump without contact, then place the light blue plastic cup on the round coaster.",
+    "Use an arm: grab the rounded base blue cup, avoid the bottle with cartoon label on the way, then set the rounded base blue cup on the round coaster.",
+    "Pick up the cylindrical light blue cup, guide it past the yellow container with green pump, and drop the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Lift the cup for holding liquids, arc around the medium shampoo bottle with pump, and place the cup for holding liquids squarely on the light gray round grainy coaster.",
+    "Use an arm, take the smooth blue cup for liquids, avoid <the yellow shampoo bottle> on the way, and set on <the small coaster with grain texture>.",
+    "Move the cylindrical light blue cup to <the coaster with circular shape> while keeping its path away from <the yellow shampoo bottle>.",
+    "Use an arm to take the light blue plastic cup around <the shampoo with green dispensing pump> and place the light blue plastic cup on <the grainy texture coaster>.",
+    "Pick the plastic cup for drinks up, route it away from the smooth bottle with green top, and drop the plastic cup for drinks onto the flat surface gray wooden coaster.",
+    "Move the cup with light blue color to the smooth round palm-sized coaster without crossing the shampoo bottle with rounded body, then release the cup with light blue color.",
+    "Pick up the blue rounded-bottom cup, keep clear of <the bottle with cartoon label>, and drop the blue rounded-bottom cup onto <the coaster with circular shape>.",
+    "Move the plastic cup for drinks to <the round coaster with light streaks> while keeping the plastic cup for drinks away from <the shampoo bottle with handle slot>, then release.",
+    "Carry the blue rounded-bottom cup toward <the small coaster with grain texture>, keeping the path clear of <the hand-sized yellow shampoo bottle>, then set down.",
+    "Using an arm, move the cylindrical light blue cup to <the round coaster with light streaks> while avoiding <the smooth bottle with green top>, then release the cylindrical light blue cup.",
+    "Use an arm, pick the plastic cup for drinks up, pass around the yellow shampoo with cartoon design, then place the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Use an arm to move the plastic cup for drinks around the shampoo bottle with rounded body and rest the plastic cup for drinks on the coaster with circular shape.",
+    "Using an arm, pick the smooth blue drinking cup up, skirt the shampoo with green dispensing pump, and place the smooth blue drinking cup on the wooden coaster.",
+    "Take the blue rounded-bottom cup, guide it away from <the bottle with cartoon label>, and place the blue rounded-bottom cup squarely on <the light gray round grainy coaster>.",
+    "Pick up the medium-sized plastic blue cup, keep its path away from <the medium shampoo bottle with pump>, and set the medium-sized plastic blue cup on <the smooth round palm-sized coaster>.",
+    "Use the arm to move the blue rounded-bottom cup past <the shampoo bottle with rounded body> and rest it on <the light gray round grainy coaster>.",
+    "With an arm, lift the medium-sized plastic blue cup, keep it away from the yellow bottle with green top, and drop it onto the flat round wooden coaster.",
+    "Use an arm to bring the plastic cup for drinks to the flat surface gray wooden coaster, keeping the plastic cup for drinks clear of the shampoo bottle with handle slot.",
+    "Move the cylindrical light blue cup onto the flat surface gray wooden coaster while avoiding the yellow shampoo bottle, then let go of the cylindrical light blue cup.",
+    "Use an arm to grab the cup for holding liquids, avoid the bottle with cartoon label, and set the cup for holding liquids down on the coaster with circular shape.",
+    "Lift the cup for holding liquids, keep clear of the yellow shampoo with cartoon design, and put the cup for holding liquids down on the round coaster with light streaks.",
+    "Using an arm, carry the light blue plastic cup around the yellow shampoo with cartoon design and place the light blue plastic cup onto the round coaster with light streaks.",
+    "Carry the cup with smooth plastic surface toward the round coaster, keeping the cup with smooth plastic surface away from the medium shampoo bottle with pump, then set down.",
+    "Use the arm to lift the medium-sized plastic blue cup, pass the yellow container with green pump, and place the medium-sized plastic blue cup on the round coaster with light streaks.",
+    "With an arm, pick the light blue plastic cup up, bypass <the plastic shampoo bottle with label>, then place the light blue plastic cup on <the smooth round palm-sized coaster>.",
+    "Secure the cup for holding liquids, move it around the shampoo bottle with handle slot, and place the cup for holding liquids squarely on the smooth round palm-sized coaster.",
+    "With an arm, lift the cup for holding liquids, avoid the shampoo bottle with handle slot, and place the cup for holding liquids on the round coaster.",
+    "With an arm, lift the medium-sized plastic blue cup, guide it past the shampoo bottle with rounded body, and put the medium-sized plastic blue cup on the coaster with circular shape.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the shampoo bottle with rounded body, and set the blue rounded-bottom cup onto the coaster made of smooth wood.",
+    "Pick up the cup for holding liquids, avoid the shampoo bottle with rounded body along the way, and place the cup for holding liquids on the round coaster with light streaks.",
+    "Use an arm: take the smooth blue drinking cup, avoid the shampoo bottle with handle slot during the move, and drop it on the coaster with circular shape.",
+    "Move the blue rounded-bottom cup toward the wooden coaster without passing near the yellow shampoo bottle, then set it down.",
+    "Take the cup with light blue color to the wooden coaster while skirting the smooth bottle with green top, then release the cup with light blue color on the wooden coaster.",
+    "Use an arm to move the smooth blue drinking cup toward the smooth round palm-sized coaster, keeping the smooth blue drinking cup clear of the yellow container with green pump.",
+    "Take the medium blue cylindrical cup, keep its path away from the bottle with cartoon label, and drop the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Lift the cup with light blue color, route it away from the shampoo bottle with rounded body, then put the cup with light blue color squarely on the coaster with circular shape.",
+    "Take the plastic cup for drinks, keep its path away from the shampoo with green dispensing pump, and place the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Move the cup with smooth plastic surface onto the small coaster with grain texture while avoiding the plastic shampoo bottle with label, then let go of the cup with smooth plastic surface.",
+    "Use an arm: grasp the cup with smooth plastic surface, avoid <the smooth bottle with green top>, and place the cup with smooth plastic surface on <the small coaster with grain texture>.",
+    "Lift the blue rounded-bottom cup, guide it past the shampoo bottle with handle slot, and rest the blue rounded-bottom cup on the small coaster with grain texture.",
+    "Carry the medium blue cylindrical cup toward <the flat surface gray wooden coaster>, skirting <the plastic shampoo bottle with label>, and set the medium blue cylindrical cup down.",
+    "Move the cup for holding liquids onto <the flat surface gray wooden coaster> and ensure the path stays away from <the hand-sized yellow shampoo bottle>.",
+    "Lift the cup for holding liquids, pass beside <the yellow shampoo bottle> without contact, then place the cup for holding liquids onto <the flat round wooden coaster>.",
+    "Lift the rounded base blue cup, carry it around the yellow container with green pump, and place the rounded base blue cup squarely on the coaster made of smooth wood.",
+    "Grab the plastic cup for drinks, swing it away from <the yellow bottle with green top>, and place the plastic cup for drinks on <the coaster with circular shape>.",
+    "Using an arm, carry the smooth blue drinking cup past <the shampoo with green dispensing pump> and place the smooth blue drinking cup squarely on <the light gray streaked wooden coaster>.",
+    "With an arm, lift the blue rounded-bottom cup, avoid <the medium shampoo bottle with pump> on the way, and drop the blue rounded-bottom cup on <the light gray round grainy coaster>.",
+    "Using an arm, pick the smooth blue cup for liquids up, skirt the hand-sized yellow shampoo bottle, and place the smooth blue cup for liquids on the smooth round palm-sized coaster.",
+    "Carry the medium blue cylindrical cup toward <the round coaster>, keeping clear of <the bottle with cartoon label>, and set the medium blue cylindrical cup down.",
+    "Secure the rounded base blue cup, keep its path away from the shampoo bottle with handle slot, and set the rounded base blue cup on the coaster made of smooth wood.",
+    "Grab the cup for holding liquids, route around the shampoo with green dispensing pump, then lower the cup for holding liquids onto the small coaster with grain texture.",
+    "Use an arm to lift the cup with light blue color, arc around the yellow shampoo bottle, and place the cup with light blue color atop the wooden coaster.",
+    "Guide the cup for holding liquids with the arm around <the yellow shampoo bottle> and onto <the smooth round palm-sized coaster>.",
+    "Slide the rounded base blue cup over to <the coaster made of smooth wood> without passing near <the hand-sized yellow shampoo bottle>.",
+    "Use an arm, keep the blue rounded-bottom cup from the smooth bottle with green top, and lower the blue rounded-bottom cup onto the coaster with circular shape.",
+    "Use an arm to move the medium blue cylindrical cup to the flat round wooden coaster, keeping the medium blue cylindrical cup from bumping the medium shampoo bottle with pump.",
+    "Lift the plastic cup for drinks, steer away from <the yellow container with green pump>, then place the plastic cup for drinks on <the light gray streaked wooden coaster>.",
+    "Use the arm to carry the blue rounded-bottom cup around the yellow shampoo bottle, then rest the blue rounded-bottom cup on the small coaster with grain texture.",
+    "Using an arm, grasp the cup with light blue color, skirt the medium shampoo bottle with pump, and place the cup with light blue color atop the round coaster.",
+    "Use an arm, take the medium-sized plastic blue cup past the hand-sized yellow shampoo bottle without nearing it, and rest the medium-sized plastic blue cup on the light gray round grainy coaster.",
+    "Take the rounded base blue cup, swing wide of the hand-sized yellow shampoo bottle, then rest the rounded base blue cup on the coaster with circular shape.",
+    "Take the smooth blue cup for liquids, arc around <the hand-sized yellow shampoo bottle>, and place the smooth blue cup for liquids neatly on <the small coaster with grain texture>.",
+    "Pick up the cup with smooth plastic surface, route it away from the yellow shampoo with cartoon design, then set the cup with smooth plastic surface on the small coaster with grain texture.",
+    "With an arm, bring the smooth blue drinking cup over to <the flat surface gray wooden coaster> and keep clear of <the shampoo with green dispensing pump>.",
+    "Use an arm: pick the cylindrical light blue cup up, skirt <the bottle with cartoon label>, then place the cylindrical light blue cup onto <the round coaster>.",
+    "With an arm, move the plastic cup for drinks past the yellow bottle with green top and place the plastic cup for drinks on the wooden coaster.",
+    "Grab the medium blue cylindrical cup, guide it away from the bottle with cartoon label, and set the medium blue cylindrical cup neatly on the wooden coaster.",
+    "Take the light blue plastic cup in the arm, route around <the yellow bottle with green top>, and set it on <the light gray streaked wooden coaster>."
+  ],
+  "unseen": [
+    "Use an arm to pick up the handheld round blue cup, steer around the smooth plastic shampoo container, and set it on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the yellow bottle with rounded edges>, then set the blue cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the smooth plastic shampoo container, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the smooth plastic shampoo container, and place the blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the yellow bottle with rounded edges>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the yellow bottle with rounded edges, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the yellow shampoo with pump dispenser>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the smooth plastic shampoo container, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the yellow bottle with rounded edges, and set the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the yellow shampoo with pump dispenser, then set the blue cup down on the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the yellow bottle with rounded edges>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, steer it around the yellow bottle with rounded edges, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow bottle with rounded edges, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, route it around <the yellow shampoo with pump dispenser>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the smooth plastic shampoo container>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the yellow shampoo with pump dispenser>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the yellow bottle with rounded edges, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the smooth plastic shampoo container>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the yellow shampoo with pump dispenser>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the yellow shampoo with pump dispenser, and place it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the yellow bottle with rounded edges, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the smooth plastic shampoo container>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the yellow bottle with rounded edges, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the yellow shampoo with pump dispenser>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, guide it around <the yellow bottle with rounded edges>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the yellow bottle with rounded edges, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the yellow bottle with rounded edges, and set it on the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the smooth plastic shampoo container>, then set the blue cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the smooth plastic shampoo container, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the yellow shampoo with pump dispenser>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the smooth plastic shampoo container>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the smooth plastic shampoo container, and place it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the yellow bottle with rounded edges, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the yellow bottle with rounded edges, then set the handheld round blue cup down on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the yellow bottle with rounded edges>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the smooth plastic shampoo container, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the yellow bottle with rounded edges, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the smooth plastic shampoo container>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the yellow bottle with rounded edges>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the yellow bottle with rounded edges, and set it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the yellow shampoo with pump dispenser>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the yellow bottle with rounded edges, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the smooth plastic shampoo container>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the yellow bottle with rounded edges>, and place the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the yellow shampoo with pump dispenser, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth plastic shampoo container, and set the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the yellow bottle with rounded edges, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the yellow shampoo with pump dispenser>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the yellow bottle with rounded edges, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the smooth plastic shampoo container>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, guide it around <the yellow bottle with rounded edges>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the yellow bottle with rounded edges, and set it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the yellow bottle with rounded edges>, then set the small smooth cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the yellow shampoo with pump dispenser, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the yellow bottle with rounded edges>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the yellow bottle with rounded edges, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the yellow bottle with rounded edges>, and place the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the yellow bottle with rounded edges, and place it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the yellow bottle with rounded edges, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the yellow shampoo with pump dispenser, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth plastic shampoo container>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the smooth plastic shampoo container, then set the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the yellow shampoo with pump dispenser, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the smooth plastic shampoo container>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the yellow bottle with rounded edges>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the smooth plastic shampoo container, and set it on the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the smooth plastic shampoo container>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the yellow bottle with rounded edges, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the smooth plastic shampoo container>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the yellow bottle with rounded edges, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the yellow bottle with rounded edges>, and place the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the yellow bottle with rounded edges, and place it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the yellow shampoo with pump dispenser, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth plastic shampoo container>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, steer it around the yellow shampoo with pump dispenser, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth plastic shampoo container, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the yellow shampoo with pump dispenser>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the smooth plastic shampoo container>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the smooth plastic shampoo container, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the yellow shampoo with pump dispenser, and set it on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the yellow shampoo with pump dispenser>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the yellow shampoo with pump dispenser, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the smooth plastic shampoo container, and place the small smooth cup on the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode42.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..f08cc0b03df707c2b096f3b7c5b13a5f0fa31b62
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the smooth blue cup for liquids in the arm, route around <the smooth bottle with green top>, and set it on <the coaster made of smooth wood>.",
+    "With an arm, lift the smooth blue drinking cup, avoid the hand-sized yellow shampoo bottle, and place the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "Use an arm to lift the medium blue cylindrical cup, keep distance from <the medium shampoo bottle with pump>, and set the medium blue cylindrical cup on <the round coaster with light streaks>.",
+    "Grab the medium-sized plastic blue cup, swing it away from <the shampoo bottle with rounded body>, and place the medium-sized plastic blue cup on <the coaster with circular shape>.",
+    "Move the cup with smooth plastic surface to the small coaster with grain texture while avoiding the smooth bottle with green top, then place the cup with smooth plastic surface on the small coaster with grain texture.",
+    "Use an arm to grab the smooth blue cup for liquids, avoid the yellow shampoo bottle, and set the smooth blue cup for liquids down on the round coaster with light streaks.",
+    "Carry the plastic cup for drinks toward <the smooth round palm-sized coaster>, keeping clear of <the hand-sized yellow shampoo bottle>, and set the plastic cup for drinks down.",
+    "Move the cup for holding liquids onto the smooth round palm-sized coaster while avoiding the yellow shampoo with cartoon design, then let go of the cup for holding liquids.",
+    "Use an arm: grab the blue rounded-bottom cup, avoid the bottle with cartoon label on the way, then set the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Secure the blue rounded-bottom cup, move it around the plastic shampoo bottle with label, and place the blue rounded-bottom cup squarely on the round coaster.",
+    "Lift the cup for holding liquids, route it away from the shampoo with green dispensing pump, then put the cup for holding liquids squarely on the smooth round palm-sized coaster.",
+    "With an arm, lift the blue rounded-bottom cup, route past <the plastic shampoo bottle with label>, and drop the blue rounded-bottom cup onto <the wooden coaster>.",
+    "With an arm, bring the cylindrical light blue cup over to <the coaster made of smooth wood> and keep clear of <the yellow container with green pump>.",
+    "Lift the medium blue cylindrical cup, pass by the plastic shampoo bottle with label without contact, then place the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Move the rounded base blue cup toward the smooth round palm-sized coaster without passing near the shampoo bottle with rounded body, then set it down.",
+    "With an arm, lift the plastic cup for drinks, guide it past the medium shampoo bottle with pump, and put the plastic cup for drinks on the wooden coaster.",
+    "Use an arm to lift the plastic cup for drinks, arc around the yellow shampoo with cartoon design, and place the plastic cup for drinks atop the flat round wooden coaster.",
+    "Use an arm: take the plastic cup for drinks, avoid the shampoo bottle with handle slot during the move, and drop it on the light gray round grainy coaster.",
+    "Carry the smooth blue drinking cup toward <the flat round wooden coaster>, keeping the path clear of <the yellow bottle with green top>, then set down.",
+    "Using an arm, carry the cylindrical light blue cup past <the hand-sized yellow shampoo bottle> and place the cylindrical light blue cup squarely on <the round coaster>.",
+    "Guide the blue rounded-bottom cup with the arm around <the yellow shampoo with cartoon design> and onto <the light gray streaked wooden coaster>.",
+    "Use an arm to bring the cup for holding liquids to the coaster with circular shape, keeping the cup for holding liquids clear of the yellow shampoo with cartoon design.",
+    "Lift the cylindrical light blue cup, go around the yellow shampoo bottle, and position the cylindrical light blue cup squarely on the flat round wooden coaster.",
+    "Take the rounded base blue cup, swing wide of the bottle with cartoon label, then rest the rounded base blue cup on the round coaster with light streaks.",
+    "Slide the cup with smooth plastic surface over to <the small coaster with grain texture> without passing near <the shampoo bottle with handle slot>.",
+    "Use an arm to move the rounded base blue cup toward the small coaster with grain texture, keeping the rounded base blue cup clear of the yellow shampoo bottle.",
+    "Slide the smooth blue cup for liquids toward the round coaster with light streaks, detouring around the yellow shampoo bottle, then set the smooth blue cup for liquids down.",
+    "Move the light blue plastic cup to the round coaster with light streaks without crossing the yellow shampoo with cartoon design, then release the light blue plastic cup.",
+    "Lift the rounded base blue cup, keep clear of the yellow container with green pump, and put the rounded base blue cup down on the flat round wooden coaster.",
+    "Pick up the plastic cup for drinks, avoid the yellow shampoo with cartoon design along the way, and place the plastic cup for drinks on the light gray round grainy coaster.",
+    "Use an arm to move the cup with light blue color around the plastic shampoo bottle with label and rest the cup with light blue color on the round coaster with light streaks.",
+    "Move the cup with smooth plastic surface to <the round coaster with light streaks> while keeping its path away from <the shampoo bottle with handle slot>.",
+    "Secure the cup for holding liquids, keep its path away from the medium shampoo bottle with pump, and set the cup for holding liquids on the round coaster.",
+    "Move the plastic cup for drinks to <the round coaster with light streaks> while keeping the plastic cup for drinks away from <the yellow bottle with green top>, then release.",
+    "Pick the smooth blue drinking cup up, route it away from the bottle with cartoon label, and drop the smooth blue drinking cup onto the smooth round palm-sized coaster.",
+    "With an arm, pick the medium-sized plastic blue cup up, bypass <the bottle with cartoon label>, then place the medium-sized plastic blue cup on <the grainy texture coaster>.",
+    "Using an arm, pick the light blue plastic cup up, skirt the yellow shampoo bottle, and place the light blue plastic cup on the flat round wooden coaster.",
+    "Take the smooth blue drinking cup, guide it away from <the plastic shampoo bottle with label>, and place the smooth blue drinking cup squarely on <the round coaster>.",
+    "Take the medium blue cylindrical cup to the coaster made of smooth wood while skirting the smooth bottle with green top, then release the medium blue cylindrical cup on the coaster made of smooth wood.",
+    "Take the rounded base blue cup, arc around <the plastic shampoo bottle with label>, and place the rounded base blue cup neatly on <the light gray round grainy coaster>.",
+    "Move the cup with smooth plastic surface onto the light gray streaked wooden coaster while avoiding the yellow shampoo with cartoon design, then let go of the cup with smooth plastic surface.",
+    "Lift the medium blue cylindrical cup, carry it around the bottle with cartoon label, and place the medium blue cylindrical cup squarely on the coaster made of smooth wood.",
+    "Use an arm, pick the cup with smooth plastic surface up, pass around the plastic shampoo bottle with label, then place the cup with smooth plastic surface on the coaster with circular shape.",
+    "Take the cup with light blue color, keep its path away from the yellow shampoo bottle, and drop the cup with light blue color on the smooth round palm-sized coaster.",
+    "Lift the light blue plastic cup, guide it around <the yellow bottle with green top>, then put the light blue plastic cup onto <the flat surface gray wooden coaster>.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the shampoo bottle with rounded body, and set the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "With an arm, lift the plastic cup for drinks, avoid <the shampoo bottle with rounded body> on the way, and drop the plastic cup for drinks on <the small coaster with grain texture>.",
+    "Use an arm, take the blue rounded-bottom cup, avoid <the yellow bottle with green top> on the way, and set on <the round coaster with light streaks>.",
+    "Use an arm, take the cup for holding liquids past the shampoo with green dispensing pump without nearing it, and rest the cup for holding liquids on the flat round wooden coaster.",
+    "Use an arm: pick the smooth blue drinking cup up, skirt <the shampoo bottle with rounded body>, then place the smooth blue drinking cup onto <the flat surface gray wooden coaster>.",
+    "Lift the blue rounded-bottom cup, steer away from <the bottle with cartoon label>, then place the blue rounded-bottom cup on <the light gray streaked wooden coaster>.",
+    "Pick up the smooth blue drinking cup, route it away from the shampoo bottle with rounded body, then set the smooth blue drinking cup on the coaster made of smooth wood.",
+    "Use an arm: grasp the cup for holding liquids, avoid <the bottle with cartoon label>, and place the cup for holding liquids on <the light gray round grainy coaster>.",
+    "Lift the smooth blue cup for liquids, pass beside <the smooth bottle with green top> without contact, then place the smooth blue cup for liquids onto <the round coaster>.",
+    "Using an arm, grasp the medium blue cylindrical cup, skirt the shampoo bottle with rounded body, and place the medium blue cylindrical cup atop the flat round wooden coaster.",
+    "Use an arm to move the rounded base blue cup to the coaster made of smooth wood, keeping the rounded base blue cup from bumping the shampoo bottle with rounded body.",
+    "Lift the cup with smooth plastic surface, guide it past the plastic shampoo bottle with label, and rest the cup with smooth plastic surface on the coaster with circular shape.",
+    "Grab the medium-sized plastic blue cup, guide it away from the yellow shampoo with cartoon design, and set the medium-sized plastic blue cup neatly on the small coaster with grain texture.",
+    "Pick up the blue rounded-bottom cup, keep clear of <the shampoo bottle with handle slot>, and drop the blue rounded-bottom cup onto <the flat round wooden coaster>.",
+    "Lift the blue rounded-bottom cup, arc around the plastic shampoo bottle with label, and place the blue rounded-bottom cup squarely on the flat surface gray wooden coaster.",
+    "Grab the cylindrical light blue cup, route around the shampoo with green dispensing pump, then lower the cylindrical light blue cup onto the grainy texture coaster.",
+    "Take the light blue plastic cup, keep its path away from the medium shampoo bottle with pump, and place the light blue plastic cup on the coaster made of smooth wood.",
+    "Using an arm, pick the cup for holding liquids up, skirt the medium shampoo bottle with pump, and place the cup for holding liquids on the wooden coaster.",
+    "Carry the medium-sized plastic blue cup toward the round coaster, keeping the medium-sized plastic blue cup away from the smooth bottle with green top, then set down.",
+    "Use the arm to lift the smooth blue cup for liquids, pass the shampoo with green dispensing pump, and place the smooth blue cup for liquids on the wooden coaster.",
+    "Use the arm to move the medium-sized plastic blue cup past <the yellow container with green pump> and rest it on <the round coaster with light streaks>.",
+    "Pick up the cylindrical light blue cup, guide it past the yellow container with green pump, and drop the cylindrical light blue cup on the round coaster.",
+    "Using an arm, move the cylindrical light blue cup to <the flat round wooden coaster> while avoiding <the yellow shampoo bottle>, then release the cylindrical light blue cup.",
+    "Using an arm, carry the medium-sized plastic blue cup around the hand-sized yellow shampoo bottle and place the medium-sized plastic blue cup onto the wooden coaster.",
+    "With an arm, move the plastic cup for drinks past the shampoo bottle with handle slot and place the plastic cup for drinks on the coaster with circular shape.",
+    "Use the arm to carry the blue rounded-bottom cup around the shampoo with green dispensing pump, then rest the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Use an arm, keep the blue rounded-bottom cup from the bottle with cartoon label, and lower the blue rounded-bottom cup onto the light gray round grainy coaster.",
+    "Move the cylindrical light blue cup onto <the grainy texture coaster> and ensure the path stays away from <the smooth bottle with green top>.",
+    "Arm-lift the smooth blue drinking cup, swing around <the smooth bottle with green top>, then place the smooth blue drinking cup onto <the round coaster>.",
+    "Take the smooth blue cup for liquids, route it away from the shampoo bottle with rounded body, and set the smooth blue cup for liquids onto the wooden coaster.",
+    "Use an arm to take the rounded base blue cup around <the yellow shampoo with cartoon design> and place the rounded base blue cup on <the round coaster>.",
+    "With an arm, take the light blue plastic cup, avoid the bottle with cartoon label, and put the light blue plastic cup on the flat round wooden coaster.",
+    "With an arm, lift the smooth blue drinking cup, keep it away from the hand-sized yellow shampoo bottle, and drop it onto the coaster made of smooth wood.",
+    "Pick up the medium-sized plastic blue cup, keep its path away from <the yellow shampoo bottle>, and set the medium-sized plastic blue cup on <the wooden coaster>.",
+    "Carry the cylindrical light blue cup toward <the round coaster with light streaks>, skirting <the yellow bottle with green top>, and set the cylindrical light blue cup down.",
+    "Take the cup for holding liquids in the arm, route around <the yellow container with green pump>, and set it on <the light gray round grainy coaster>.",
+    "With an arm, lift the cup with light blue color, avoid the yellow shampoo with cartoon design, and place the cup with light blue color on the light gray round grainy coaster.",
+    "Use an arm to lift the cylindrical light blue cup, keep distance from <the medium shampoo bottle with pump>, and set the cylindrical light blue cup on <the coaster made of smooth wood>.",
+    "Grab the medium-sized plastic blue cup, swing it away from <the shampoo bottle with handle slot>, and place the medium-sized plastic blue cup on <the light gray streaked wooden coaster>.",
+    "Move the cup with light blue color to the wooden coaster while avoiding the plastic shampoo bottle with label, then place the cup with light blue color on the wooden coaster.",
+    "Use an arm to grab the medium-sized plastic blue cup, avoid the plastic shampoo bottle with label, and set the medium-sized plastic blue cup down on the flat surface gray wooden coaster.",
+    "Carry the cylindrical light blue cup toward <the round coaster with light streaks>, keeping clear of <the hand-sized yellow shampoo bottle>, and set the cylindrical light blue cup down.",
+    "Move the plastic cup for drinks onto the flat round wooden coaster while avoiding the bottle with cartoon label, then let go of the plastic cup for drinks.",
+    "Use an arm: grab the cup with light blue color, avoid the shampoo bottle with handle slot on the way, then set the cup with light blue color on the coaster made of smooth wood.",
+    "Secure the smooth blue cup for liquids, move it around the medium shampoo bottle with pump, and place the smooth blue cup for liquids squarely on the light gray streaked wooden coaster.",
+    "Lift the cup for holding liquids, route it away from the shampoo bottle with handle slot, then put the cup for holding liquids squarely on the flat round wooden coaster.",
+    "With an arm, lift the rounded base blue cup, route past <the shampoo bottle with handle slot>, and drop the rounded base blue cup onto <the small coaster with grain texture>.",
+    "With an arm, bring the rounded base blue cup over to <the smooth round palm-sized coaster> and keep clear of <the shampoo bottle with handle slot>.",
+    "Lift the cup with light blue color, pass by the shampoo bottle with rounded body without contact, then place the cup with light blue color on the small coaster with grain texture.",
+    "Move the medium-sized plastic blue cup toward the flat round wooden coaster without passing near the yellow shampoo bottle, then set it down.",
+    "With an arm, lift the blue rounded-bottom cup, guide it past the shampoo bottle with rounded body, and put the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "Use an arm to lift the smooth blue cup for liquids, arc around the shampoo with green dispensing pump, and place the smooth blue cup for liquids atop the light gray streaked wooden coaster.",
+    "Use an arm: take the blue rounded-bottom cup, avoid the yellow bottle with green top during the move, and drop it on the round coaster.",
+    "Carry the rounded base blue cup toward <the round coaster with light streaks>, keeping the path clear of <the yellow container with green pump>, then set down.",
+    "Using an arm, carry the medium-sized plastic blue cup past <the plastic shampoo bottle with label> and place the medium-sized plastic blue cup squarely on <the round coaster>."
+  ],
+  "unseen": [
+    "Pick up the handheld round blue cup, keep clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the yellow shampoo with pump dispenser>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the yellow shampoo with pump dispenser, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the smooth plastic shampoo container>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the yellow bottle with rounded edges, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the yellow shampoo with pump dispenser>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the yellow bottle with rounded edges, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the yellow bottle with rounded edges>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the smooth plastic shampoo container>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the smooth plastic shampoo container, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the yellow shampoo with pump dispenser, and place it on the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the yellow bottle with rounded edges>, and set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, steer it around the smooth plastic shampoo container, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the yellow bottle with rounded edges, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the smooth plastic shampoo container, and set it on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the yellow shampoo with pump dispenser, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the smooth plastic shampoo container>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the smooth plastic shampoo container, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the yellow bottle with rounded edges>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the yellow bottle with rounded edges, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the yellow shampoo with pump dispenser, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the yellow shampoo with pump dispenser>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the smooth plastic shampoo container>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the smooth plastic shampoo container>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the yellow bottle with rounded edges, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the yellow bottle with rounded edges, and place it on the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the yellow shampoo with pump dispenser>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the smooth plastic shampoo container, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the yellow shampoo with pump dispenser, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the smooth plastic shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the smooth plastic shampoo container, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the yellow bottle with rounded edges>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the yellow bottle with rounded edges, then set the handheld round blue cup down on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the yellow bottle with rounded edges>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth plastic shampoo container, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth plastic shampoo container, and set the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the smooth plastic shampoo container>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the smooth plastic shampoo container, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the yellow bottle with rounded edges>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the yellow shampoo with pump dispenser>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the yellow bottle with rounded edges, and place it on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the yellow shampoo with pump dispenser>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, steer it around the smooth plastic shampoo container, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the yellow bottle with rounded edges, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the yellow bottle with rounded edges, and set it on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the yellow bottle with rounded edges, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the smooth plastic shampoo container>, and place the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the yellow shampoo with pump dispenser, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the yellow bottle with rounded edges>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the smooth plastic shampoo container, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the yellow shampoo with pump dispenser>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the blue cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the yellow shampoo with pump dispenser>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the yellow bottle with rounded edges>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the yellow bottle with rounded edges, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the yellow bottle with rounded edges, and place it on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the smooth plastic shampoo container>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the smooth plastic shampoo container, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the yellow shampoo with pump dispenser, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the yellow bottle with rounded edges, and set it on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the yellow shampoo with pump dispenser, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the smooth plastic shampoo container>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the yellow bottle with rounded edges, then set the small smooth cup down on the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the smooth plastic shampoo container>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow bottle with rounded edges, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth plastic shampoo container, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the yellow bottle with rounded edges>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the yellow shampoo with pump dispenser>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the smooth plastic shampoo container>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the yellow bottle with rounded edges, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the smooth plastic shampoo container, and place it on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the smooth plastic shampoo container>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the yellow shampoo with pump dispenser, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the yellow bottle with rounded edges, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the yellow shampoo with pump dispenser, and set it on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the yellow bottle with rounded edges, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the yellow bottle with rounded edges>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the yellow bottle with rounded edges, then set the blue cup down on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the yellow bottle with rounded edges>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth plastic shampoo container, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth plastic shampoo container, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the yellow shampoo with pump dispenser>, then place the small smooth cup onto <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the yellow bottle with rounded edges, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the yellow bottle with rounded edges>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the yellow bottle with rounded edges>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the smooth plastic shampoo container, and place it on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the yellow bottle with rounded edges>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, steer it around the yellow shampoo with pump dispenser, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the yellow bottle with rounded edges, and place the blue cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the yellow shampoo with pump dispenser, and set it on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the yellow bottle with rounded edges, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the yellow shampoo with pump dispenser>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the smooth plastic shampoo container, then set the blue cup down on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the smooth plastic shampoo container>, then set the small smooth cup on <the disc-shaped light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode43.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5c4d21c6ba352ec250a5f0879b843d82b57b3b9
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm to lift the smooth blue drinking cup, keep distance from <the plastic shampoo with orange label>, and set the smooth blue drinking cup on <the smooth round palm-sized coaster>.",
+    "Take the blue rounded-bottom cup, guide it away from <the bottle with hexagonal blue cap>, and place the blue rounded-bottom cup squarely on <the round coaster with light streaks>.",
+    "With an arm, lift the cup for holding liquids, keep it away from the white shampoo bottle, and drop it onto the coaster made of smooth wood.",
+    "With an arm, lift the medium blue cylindrical cup, avoid the curved shampoo bottle, and place the medium blue cylindrical cup on the round coaster.",
+    "Use an arm to move the cup with light blue color around the plastic shampoo with orange label and rest the cup with light blue color on the wooden coaster.",
+    "Take the rounded base blue cup, keep its path away from the plastic shampoo bottle, and place the rounded base blue cup on the small coaster with grain texture.",
+    "Take the light blue plastic cup, arc around <the medium-sized white plastic shampoo>, and place the light blue plastic cup neatly on <the smooth round palm-sized coaster>.",
+    "Grab the cup with light blue color, swing it away from <the plastic shampoo bottle>, and place the cup with light blue color on <the grainy texture coaster>.",
+    "Move the smooth blue drinking cup to <the flat surface gray wooden coaster> while keeping its path away from <the shampoo bottle with curved sides>.",
+    "Use an arm to take the medium-sized plastic blue cup around <the handheld shampoo container> and place the medium-sized plastic blue cup on <the small coaster with grain texture>.",
+    "Lift the cup with light blue color, pass by the curved shampoo bottle without contact, then place the cup with light blue color on the light gray streaked wooden coaster.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the plastic shampoo bottle, and set the cup with smooth plastic surface onto the smooth round palm-sized coaster.",
+    "Use an arm to move the smooth blue drinking cup toward the coaster with circular shape, keeping the smooth blue drinking cup clear of the bottle with hexagonal blue cap.",
+    "Lift the smooth blue cup for liquids, keep clear of the bottle with smooth surface, and put the smooth blue cup for liquids down on the coaster with circular shape.",
+    "Lift the plastic cup for drinks, pass beside <the blue top shampoo bottle> without contact, then place the plastic cup for drinks onto <the light gray streaked wooden coaster>.",
+    "With an arm, take the cup with smooth plastic surface, avoid the bottle with smooth surface, and put the cup with smooth plastic surface on the coaster with circular shape.",
+    "Take the cup with smooth plastic surface, swing wide of the shampoo bottle with blue cap, then rest the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Slide the cup with light blue color over to <the round coaster> without passing near <the handheld shampoo container>.",
+    "Use the arm to lift the medium-sized plastic blue cup, pass the plastic shampoo bottle, and place the medium-sized plastic blue cup on the flat surface gray wooden coaster.",
+    "Lift the cup with light blue color, go around the shampoo bottle with curved sides, and position the cup with light blue color squarely on the small coaster with grain texture.",
+    "Carry the smooth blue cup for liquids toward the smooth round palm-sized coaster, keeping the smooth blue cup for liquids away from the shampoo bottle with curved sides, then set down.",
+    "Using an arm, carry the light blue plastic cup around the shampoo bottle with curved sides and place the light blue plastic cup onto the smooth round palm-sized coaster.",
+    "With an arm, bring the medium blue cylindrical cup over to <the flat surface gray wooden coaster> and keep clear of <the bottle with smooth surface>.",
+    "Use an arm to bring the light blue plastic cup to the coaster made of smooth wood, keeping the light blue plastic cup clear of the plastic shampoo bottle.",
+    "Pick up the light blue plastic cup, avoid the medium-sized white plastic shampoo along the way, and place the light blue plastic cup on the small coaster with grain texture.",
+    "Lift the cup with light blue color, steer away from <the curved shampoo bottle>, then place the cup with light blue color on <the light gray streaked wooden coaster>.",
+    "Using an arm, pick the cup for holding liquids up, skirt the bottle with hexagonal blue cap, and place the cup for holding liquids on the wooden coaster.",
+    "Take the plastic cup for drinks to the small coaster with grain texture while skirting the plastic shampoo bottle, then release the plastic cup for drinks on the small coaster with grain texture.",
+    "Use an arm to lift the cup for holding liquids, arc around the plastic shampoo bottle, and place the cup for holding liquids atop the flat surface gray wooden coaster.",
+    "Lift the light blue plastic cup, arc around the shampoo bottle with blue cap, and place the light blue plastic cup squarely on the round coaster with light streaks.",
+    "With an arm, pick the blue rounded-bottom cup up, bypass <the white shampoo bottle>, then place the blue rounded-bottom cup on <the round coaster with light streaks>.",
+    "With an arm, lift the cup with light blue color, avoid <the medium-sized white plastic shampoo> on the way, and drop the cup with light blue color on <the light gray round grainy coaster>.",
+    "Lift the cup with smooth plastic surface, route it away from the white shampoo bottle, then put the cup with smooth plastic surface squarely on the small coaster with grain texture.",
+    "Move the blue rounded-bottom cup onto the light gray round grainy coaster while avoiding the bottle with smooth surface, then let go of the blue rounded-bottom cup.",
+    "Use an arm: take the smooth blue cup for liquids, avoid the curved shampoo bottle during the move, and drop it on the round coaster with light streaks.",
+    "Use an arm: pick the medium blue cylindrical cup up, skirt <the curved shampoo bottle>, then place the medium blue cylindrical cup onto <the flat surface gray wooden coaster>.",
+    "Move the medium-sized plastic blue cup toward the smooth round palm-sized coaster without passing near the shampoo bottle with blue cap, then set it down.",
+    "Use an arm to grab the cylindrical light blue cup, avoid the shampoo bottle with blue cap, and set the cylindrical light blue cup down on the coaster with circular shape.",
+    "Take the cup with smooth plastic surface, route it away from the bottle with hexagonal blue cap, and set the cup with smooth plastic surface onto the coaster made of smooth wood.",
+    "Using an arm, pick the cup for holding liquids up, skirt the shampoo bottle with curved sides, and place the cup for holding liquids on the grainy texture coaster.",
+    "Use an arm, take the cup with light blue color past the shampoo bottle with curved sides without nearing it, and rest the cup with light blue color on the grainy texture coaster.",
+    "Move the rounded base blue cup onto the small coaster with grain texture while avoiding the shampoo bottle with curved sides, then let go of the rounded base blue cup.",
+    "Grab the smooth blue drinking cup, route around the shampoo bottle with curved sides, then lower the smooth blue drinking cup onto the round coaster with light streaks.",
+    "With an arm, move the cup for holding liquids past the plastic shampoo with orange label and place the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Take the cup with light blue color in the arm, route around <the white and blue shampoo container>, and set it on <the round coaster with light streaks>.",
+    "Secure the light blue plastic cup, move it around the medium-sized white plastic shampoo, and place the light blue plastic cup squarely on the flat surface gray wooden coaster.",
+    "Use an arm, take the cup with light blue color, avoid <the shampoo bottle with blue cap> on the way, and set on <the light gray streaked wooden coaster>.",
+    "Lift the medium blue cylindrical cup, guide it past the curved shampoo bottle, and rest the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Using an arm, move the smooth blue drinking cup to <the wooden coaster> while avoiding <the white shampoo bottle>, then release the smooth blue drinking cup.",
+    "Use an arm: grab the medium blue cylindrical cup, avoid the bottle with hexagonal blue cap on the way, then set the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Use an arm, keep the plastic cup for drinks from the white shampoo bottle, and lower the plastic cup for drinks onto the flat surface gray wooden coaster.",
+    "Guide the cup with light blue color with the arm around <the shampoo bottle with curved sides> and onto <the grainy texture coaster>.",
+    "Pick up the cup with light blue color, guide it past the shampoo bottle with curved sides, and drop the cup with light blue color on the round coaster with light streaks.",
+    "Secure the rounded base blue cup, keep its path away from the blue top shampoo bottle, and set the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Pick up the cup for holding liquids, keep clear of <the white shampoo bottle>, and drop the cup for holding liquids onto <the flat round wooden coaster>.",
+    "Use an arm, pick the blue rounded-bottom cup up, pass around the bottle with smooth surface, then place the blue rounded-bottom cup on the small coaster with grain texture.",
+    "Use the arm to carry the medium-sized plastic blue cup around the handheld shampoo container, then rest the medium-sized plastic blue cup on the light gray round grainy coaster.",
+    "Using an arm, grasp the cup for holding liquids, skirt the white and blue shampoo container, and place the cup for holding liquids atop the light gray round grainy coaster.",
+    "Move the medium blue cylindrical cup to <the flat surface gray wooden coaster> while keeping the medium blue cylindrical cup away from <the white shampoo bottle>, then release.",
+    "Using an arm, carry the smooth blue drinking cup past <the white shampoo bottle> and place the smooth blue drinking cup squarely on <the light gray streaked wooden coaster>.",
+    "Lift the rounded base blue cup, carry it around the white and blue shampoo container, and place the rounded base blue cup squarely on the light gray round grainy coaster.",
+    "Take the smooth blue cup for liquids, keep its path away from the bottle with hexagonal blue cap, and drop the smooth blue cup for liquids on the round coaster.",
+    "Pick the medium blue cylindrical cup up, route it away from the plastic shampoo bottle, and drop the medium blue cylindrical cup onto the wooden coaster.",
+    "With an arm, lift the smooth blue drinking cup, guide it past the plastic shampoo with orange label, and put the smooth blue drinking cup on the flat round wooden coaster.",
+    "Carry the blue rounded-bottom cup toward <the coaster made of smooth wood>, skirting <the white shampoo bottle>, and set the blue rounded-bottom cup down.",
+    "Carry the blue rounded-bottom cup toward <the light gray round grainy coaster>, keeping the path clear of <the bottle with smooth surface>, then set down.",
+    "Pick up the smooth blue cup for liquids, keep its path away from <the bottle with smooth surface>, and set the smooth blue cup for liquids on <the coaster made of smooth wood>.",
+    "Arm-lift the medium-sized plastic blue cup, swing around <the shampoo bottle with curved sides>, then place the medium-sized plastic blue cup onto <the flat surface gray wooden coaster>.",
+    "Move the cup for holding liquids to the wooden coaster without crossing the bottle with smooth surface, then release the cup for holding liquids.",
+    "Move the medium blue cylindrical cup onto <the coaster made of smooth wood> and ensure the path stays away from <the shampoo bottle with blue cap>.",
+    "Pick up the smooth blue drinking cup, route it away from the medium-sized white plastic shampoo, then set the smooth blue drinking cup on the light gray round grainy coaster.",
+    "Use an arm: grasp the rounded base blue cup, avoid <the white and blue shampoo container>, and place the rounded base blue cup on <the wooden coaster>.",
+    "Use the arm to move the medium blue cylindrical cup past <the shampoo bottle with curved sides> and rest it on <the small coaster with grain texture>.",
+    "Lift the plastic cup for drinks, guide it around <the shampoo bottle with blue cap>, then put the plastic cup for drinks onto <the grainy texture coaster>.",
+    "Carry the cup for holding liquids toward <the light gray streaked wooden coaster>, keeping clear of <the medium-sized white plastic shampoo>, and set the cup for holding liquids down.",
+    "Grab the smooth blue cup for liquids, guide it away from the bottle with smooth surface, and set the smooth blue cup for liquids neatly on the flat surface gray wooden coaster.",
+    "Use an arm to move the smooth blue cup for liquids to the light gray round grainy coaster, keeping the smooth blue cup for liquids from bumping the white and blue shampoo container.",
+    "Slide the cylindrical light blue cup toward the smooth round palm-sized coaster, detouring around the blue top shampoo bottle, then set the cylindrical light blue cup down.",
+    "Move the cup with smooth plastic surface to the flat surface gray wooden coaster while avoiding the blue top shampoo bottle, then place the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "With an arm, lift the cup with light blue color, route past <the white shampoo bottle>, and drop the cup with light blue color onto <the small coaster with grain texture>.",
+    "Use an arm to lift the light blue plastic cup, keep distance from <the shampoo bottle with curved sides>, and set the light blue plastic cup on <the smooth round palm-sized coaster>.",
+    "Take the rounded base blue cup, guide it away from <the blue top shampoo bottle>, and place the rounded base blue cup squarely on <the light gray round grainy coaster>.",
+    "With an arm, lift the medium blue cylindrical cup, keep it away from the plastic shampoo with orange label, and drop it onto the small coaster with grain texture.",
+    "With an arm, lift the light blue plastic cup, avoid the white shampoo bottle, and place the light blue plastic cup on the coaster made of smooth wood.",
+    "Use an arm to move the light blue plastic cup around the plastic shampoo bottle and rest the light blue plastic cup on the flat round wooden coaster.",
+    "Take the blue rounded-bottom cup, keep its path away from the plastic shampoo with orange label, and place the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Take the cylindrical light blue cup, arc around <the shampoo bottle with blue cap>, and place the cylindrical light blue cup neatly on <the round coaster with light streaks>.",
+    "Grab the cup with light blue color, swing it away from <the plastic shampoo bottle>, and place the cup with light blue color on <the round coaster>.",
+    "Move the plastic cup for drinks to <the wooden coaster> while keeping its path away from <the white shampoo bottle>.",
+    "Use an arm to take the medium-sized plastic blue cup around <the bottle with smooth surface> and place the medium-sized plastic blue cup on <the round coaster>.",
+    "Lift the medium-sized plastic blue cup, pass by the shampoo bottle with curved sides without contact, then place the medium-sized plastic blue cup on the light gray round grainy coaster.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the medium-sized white plastic shampoo, and set the blue rounded-bottom cup onto the round coaster with light streaks.",
+    "Use an arm to move the cup for holding liquids toward the coaster made of smooth wood, keeping the cup for holding liquids clear of the plastic shampoo bottle.",
+    "Lift the rounded base blue cup, keep clear of the medium-sized white plastic shampoo, and put the rounded base blue cup down on the light gray round grainy coaster.",
+    "Lift the cup with light blue color, pass beside <the medium-sized white plastic shampoo> without contact, then place the cup with light blue color onto <the light gray round grainy coaster>.",
+    "With an arm, take the light blue plastic cup, avoid the white and blue shampoo container, and put the light blue plastic cup on the light gray streaked wooden coaster.",
+    "Take the cylindrical light blue cup, swing wide of the curved shampoo bottle, then rest the cylindrical light blue cup on the round coaster.",
+    "Slide the medium blue cylindrical cup over to <the wooden coaster> without passing near <the bottle with smooth surface>.",
+    "Use the arm to lift the medium-sized plastic blue cup, pass the plastic shampoo bottle, and place the medium-sized plastic blue cup on the flat surface gray wooden coaster.",
+    "Lift the cup with light blue color, go around the shampoo bottle with blue cap, and position the cup with light blue color squarely on the flat surface gray wooden coaster."
+  ],
+  "unseen": [
+    "Use an arm to pick up the blue cup, steer around the white shampoo with orange design, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the shampoo container in white and blue, then set the small smooth cup down on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the blue-capped shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the blue-capped shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container in white and blue>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container in white and blue, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the blue-capped shampoo bottle, and place it on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo container in white and blue, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container in white and blue, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, route it around <the white shampoo with orange design>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container in white and blue>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the blue-capped shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the white shampoo with orange design, and set it on the light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo container in white and blue, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container in white and blue, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the blue-capped shampoo bottle>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the blue-capped shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the white shampoo with orange design, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the blue-capped shampoo bottle, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the white shampoo with orange design, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the shampoo container in white and blue>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the white shampoo with orange design>, and place it on <the light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the blue-capped shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the blue-capped shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the blue-capped shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the white shampoo with orange design, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the blue-capped shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container in white and blue>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the white shampoo with orange design, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the white shampoo with orange design, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the white shampoo with orange design, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, route it around <the blue-capped shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the white shampoo with orange design>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo container in white and blue, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container in white and blue>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the white shampoo with orange design, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the blue-capped shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the blue-capped shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the white shampoo with orange design>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white shampoo with orange design>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the blue-capped shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the blue-capped shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the blue-capped shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo container in white and blue>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container in white and blue>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the white shampoo with orange design>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container in white and blue, and set it on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the shampoo container in white and blue, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the blue-capped shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container in white and blue>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white shampoo with orange design, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the white shampoo with orange design, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the blue-capped shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container in white and blue>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container in white and blue>, and place it on <the light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the white shampoo with orange design>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white shampoo with orange design>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container in white and blue, and set it on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the shampoo container in white and blue, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo container in white and blue, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the white shampoo with orange design>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container in white and blue>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the white shampoo with orange design, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the blue-capped shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo container in white and blue, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the blue-capped shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the white shampoo with orange design>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container in white and blue>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container in white and blue>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the blue-capped shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the white shampoo with orange design, then set the small smooth cup down on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container in white and blue, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the white shampoo with orange design>, and place the blue cup on <the disc-shaped light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode44.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d926b33d9706504a449f76884e7515fe2a17993
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the blue rounded-bottom cup, avoid the dark green bottle with pump along the way, and place the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Secure the medium-sized plastic blue cup, keep its path away from the shampoo bottle with matte black pump, and set the medium-sized plastic blue cup on the coaster with circular shape.",
+    "Use an arm to move the rounded base blue cup toward the coaster made of smooth wood, keeping the rounded base blue cup clear of the plastic shampoo container.",
+    "With an arm, pick the smooth blue drinking cup up, bypass <the rectangular dark green shampoo bottle>, then place the smooth blue drinking cup on <the grainy texture coaster>.",
+    "Secure the smooth blue drinking cup, move it around the shampoo bottle, green with black cap, and place the smooth blue drinking cup squarely on the coaster with circular shape.",
+    "Take the light blue plastic cup, keep its path away from the green shampoo bottle, and place the light blue plastic cup on the flat surface gray wooden coaster.",
+    "With an arm, bring the smooth blue cup for liquids over to <the round coaster with light streaks> and keep clear of <the shampoo bottle with matte black pump>.",
+    "Pick the blue rounded-bottom cup up, route it away from the medium size shampoo bottle, and drop the blue rounded-bottom cup onto the small coaster with grain texture.",
+    "Using an arm, carry the light blue plastic cup around the shampoo container with dispensing pump and place the light blue plastic cup onto the round coaster with light streaks.",
+    "Move the rounded base blue cup to <the round coaster with light streaks> while keeping its path away from <the shampoo container with dispensing pump>.",
+    "Take the medium blue cylindrical cup, route it away from the rectangular green plastic shampoo dispenser, and set the medium blue cylindrical cup onto the grainy texture coaster.",
+    "Take the smooth blue cup for liquids to the smooth round palm-sized coaster while skirting the plastic shampoo container, then release the smooth blue cup for liquids on the smooth round palm-sized coaster.",
+    "With an arm, lift the medium blue cylindrical cup, route past <the medium size shampoo bottle>, and drop the medium blue cylindrical cup onto <the wooden coaster>.",
+    "Use an arm: pick the rounded base blue cup up, skirt <the dark green bottle with pump>, then place the rounded base blue cup onto <the coaster with circular shape>.",
+    "Carry the smooth blue drinking cup toward the light gray round grainy coaster, keeping the smooth blue drinking cup away from the green shampoo bottle, then set down.",
+    "Use an arm: take the medium-sized plastic blue cup, avoid the shampoo container with dispensing pump during the move, and drop it on the grainy texture coaster.",
+    "Lift the smooth blue drinking cup, go around the plastic shampoo container, and position the smooth blue drinking cup squarely on the light gray round grainy coaster.",
+    "Use an arm to lift the cup with smooth plastic surface, arc around the shampoo container with dispensing pump, and place the cup with smooth plastic surface atop the grainy texture coaster.",
+    "Use an arm to move the smooth blue drinking cup to the flat round wooden coaster, keeping the smooth blue drinking cup from bumping the dark green bottle with pump.",
+    "Use an arm to bring the medium-sized plastic blue cup to the flat surface gray wooden coaster, keeping the medium-sized plastic blue cup clear of the rectangular dark green shampoo bottle.",
+    "Using an arm, move the smooth blue cup for liquids to <the smooth round palm-sized coaster> while avoiding <the rectangular dark green shampoo bottle>, then release the smooth blue cup for liquids.",
+    "Lift the medium blue cylindrical cup, carry it around the plastic shampoo container, and place the medium blue cylindrical cup squarely on the flat surface gray wooden coaster.",
+    "Using an arm, pick the light blue plastic cup up, skirt the shampoo bottle with smooth surface, and place the light blue plastic cup on the coaster with circular shape.",
+    "Slide the smooth blue cup for liquids toward the round coaster with light streaks, detouring around the shampoo bottle with smooth surface, then set the smooth blue cup for liquids down.",
+    "With an arm, lift the cup for holding liquids, avoid <the shampoo bottle with smooth surface> on the way, and drop the cup for holding liquids on <the round coaster with light streaks>.",
+    "Use an arm, pick the light blue plastic cup up, pass around the green shampoo bottle, then place the light blue plastic cup on the round coaster with light streaks.",
+    "With an arm, lift the smooth blue cup for liquids, keep it away from the rectangular green plastic shampoo dispenser, and drop it onto the smooth round palm-sized coaster.",
+    "With an arm, take the cylindrical light blue cup, avoid the plastic shampoo container, and put the cylindrical light blue cup on the flat surface gray wooden coaster.",
+    "Take the light blue plastic cup in the arm, route around <the green shampoo bottle>, and set it on <the flat surface gray wooden coaster>.",
+    "Carry the cup with smooth plastic surface toward <the coaster with circular shape>, keeping clear of <the shampoo bottle with matte black pump>, and set the cup with smooth plastic surface down.",
+    "Carry the rounded base blue cup toward <the small coaster with grain texture>, keeping the path clear of <the shampoo bottle with matte black pump>, then set down.",
+    "With an arm, move the smooth blue cup for liquids past the shampoo bottle with matte black pump and place the smooth blue cup for liquids on the grainy texture coaster.",
+    "Lift the plastic cup for drinks, pass beside <the shampoo bottle with smooth surface> without contact, then place the plastic cup for drinks onto <the wooden coaster>.",
+    "Use an arm, take the plastic cup for drinks, avoid <the shampoo bottle with smooth surface> on the way, and set on <the coaster with circular shape>.",
+    "Use an arm: grab the cylindrical light blue cup, avoid the hand-sized shampoo bottle on the way, then set the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Use the arm to lift the rounded base blue cup, pass the rectangular green plastic shampoo dispenser, and place the rounded base blue cup on the coaster with circular shape.",
+    "Use an arm to grab the plastic cup for drinks, avoid the shampoo bottle with matte black pump, and set the plastic cup for drinks down on the smooth round palm-sized coaster.",
+    "Pick up the cup for holding liquids, keep clear of <the dark green bottle with pump>, and drop the cup for holding liquids onto <the smooth round palm-sized coaster>.",
+    "Move the smooth blue cup for liquids toward the light gray round grainy coaster without passing near the plastic shampoo container, then set it down.",
+    "Move the medium blue cylindrical cup to the light gray streaked wooden coaster while avoiding the shampoo bottle, green with black cap, then place the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Use an arm: grasp the light blue plastic cup, avoid <the rectangular green plastic shampoo dispenser>, and place the light blue plastic cup on <the round coaster with light streaks>.",
+    "Lift the plastic cup for drinks, guide it past the rectangular green plastic shampoo dispenser, and rest the plastic cup for drinks on the grainy texture coaster.",
+    "Pick up the smooth blue cup for liquids, route it away from the shampoo bottle with matte black pump, then set the smooth blue cup for liquids on the grainy texture coaster.",
+    "With an arm, lift the smooth blue cup for liquids, avoid the shampoo bottle with black pump, and set the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Move the rounded base blue cup to <the grainy texture coaster> while keeping the rounded base blue cup away from <the shampoo bottle with matte black pump>, then release.",
+    "Grab the plastic cup for drinks, route around the rectangular dark green shampoo bottle, then lower the plastic cup for drinks onto the flat surface gray wooden coaster.",
+    "Lift the medium-sized plastic blue cup, route it away from the shampoo bottle with black pump, then put the medium-sized plastic blue cup squarely on the flat surface gray wooden coaster.",
+    "Take the plastic cup for drinks, guide it away from <the green shampoo bottle>, and place the plastic cup for drinks squarely on <the small coaster with grain texture>.",
+    "Lift the blue rounded-bottom cup, keep clear of the dark green bottle with pump, and put the blue rounded-bottom cup down on the wooden coaster.",
+    "Guide the medium-sized plastic blue cup with the arm around <the rectangular green plastic shampoo dispenser> and onto <the round coaster>.",
+    "Lift the rounded base blue cup, guide it around <the shampoo bottle with smooth surface>, then put the rounded base blue cup onto <the light gray round grainy coaster>.",
+    "Use an arm to lift the cylindrical light blue cup, keep distance from <the shampoo bottle with smooth surface>, and set the cylindrical light blue cup on <the coaster with circular shape>.",
+    "Lift the blue rounded-bottom cup, steer away from <the shampoo bottle with matte black pump>, then place the blue rounded-bottom cup on <the light gray round grainy coaster>.",
+    "Use an arm, take the smooth blue drinking cup past the shampoo bottle with smooth surface without nearing it, and rest the smooth blue drinking cup on the small coaster with grain texture.",
+    "Take the cup with smooth plastic surface, swing wide of the medium size shampoo bottle, then rest the cup with smooth plastic surface on the grainy texture coaster.",
+    "Using an arm, grasp the cup with smooth plastic surface, skirt the shampoo bottle with matte black pump, and place the cup with smooth plastic surface atop the round coaster.",
+    "Use an arm to move the cup for holding liquids around the shampoo bottle with black pump and rest the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Use an arm, keep the plastic cup for drinks from the dark green bottle with pump, and lower the plastic cup for drinks onto the round coaster with light streaks.",
+    "Slide the medium-sized plastic blue cup over to <the round coaster with light streaks> without passing near <the shampoo bottle, green with black cap>.",
+    "Pick up the plastic cup for drinks, keep its path away from <the rectangular dark green shampoo bottle>, and set the plastic cup for drinks on <the coaster with circular shape>.",
+    "Move the blue rounded-bottom cup onto <the grainy texture coaster> and ensure the path stays away from <the plastic shampoo container>.",
+    "Move the rounded base blue cup to the round coaster without crossing the shampoo bottle, green with black cap, then release the rounded base blue cup.",
+    "Move the blue rounded-bottom cup onto the smooth round palm-sized coaster while avoiding the shampoo container with dispensing pump, then let go of the blue rounded-bottom cup.",
+    "Grab the cup with smooth plastic surface, swing it away from <the shampoo bottle, green with black cap>, and place the cup with smooth plastic surface on <the light gray round grainy coaster>.",
+    "Use the arm to move the cup for holding liquids past <the shampoo bottle with black pump> and rest it on <the coaster with circular shape>.",
+    "Using an arm, pick the plastic cup for drinks up, skirt the shampoo bottle with smooth surface, and place the plastic cup for drinks on the small coaster with grain texture.",
+    "Lift the medium-sized plastic blue cup, pass by the shampoo bottle with matte black pump without contact, then place the medium-sized plastic blue cup on the small coaster with grain texture.",
+    "With an arm, lift the cup for holding liquids, avoid the medium size shampoo bottle, and place the cup for holding liquids on the coaster with circular shape.",
+    "Take the light blue plastic cup, keep its path away from the plastic shampoo container, and drop the light blue plastic cup on the grainy texture coaster.",
+    "Move the blue rounded-bottom cup onto the round coaster with light streaks while avoiding the shampoo container with dispensing pump, then let go of the blue rounded-bottom cup.",
+    "Carry the medium blue cylindrical cup toward <the wooden coaster>, skirting <the hand-sized shampoo bottle>, and set the medium blue cylindrical cup down.",
+    "Use the arm to carry the cup for holding liquids around the shampoo bottle with matte black pump, then rest the cup for holding liquids on the small coaster with grain texture.",
+    "Lift the plastic cup for drinks, arc around the shampoo bottle with matte black pump, and place the plastic cup for drinks squarely on the light gray streaked wooden coaster.",
+    "Using an arm, carry the blue rounded-bottom cup past <the hand-sized shampoo bottle> and place the blue rounded-bottom cup squarely on <the round coaster with light streaks>.",
+    "Grab the cup with smooth plastic surface, guide it away from the plastic shampoo container, and set the cup with smooth plastic surface neatly on the flat surface gray wooden coaster.",
+    "With an arm, lift the cup with smooth plastic surface, guide it past the shampoo container with dispensing pump, and put the cup with smooth plastic surface on the round coaster with light streaks.",
+    "Use an arm to take the rounded base blue cup around <the shampoo bottle with smooth surface> and place the rounded base blue cup on <the flat surface gray wooden coaster>.",
+    "Pick up the rounded base blue cup, guide it past the plastic shampoo container, and drop the rounded base blue cup on the coaster with circular shape.",
+    "Arm-lift the blue rounded-bottom cup, swing around <the shampoo bottle with smooth surface>, then place the blue rounded-bottom cup onto <the coaster made of smooth wood>.",
+    "Take the cup with smooth plastic surface, arc around <the plastic shampoo container>, and place the cup with smooth plastic surface neatly on <the small coaster with grain texture>.",
+    "Pick up the light blue plastic cup, avoid the plastic shampoo container along the way, and place the light blue plastic cup on the wooden coaster.",
+    "Secure the light blue plastic cup, keep its path away from the plastic shampoo container, and set the light blue plastic cup on the grainy texture coaster.",
+    "Use an arm to move the medium-sized plastic blue cup toward the light gray round grainy coaster, keeping the medium-sized plastic blue cup clear of the shampoo container with dispensing pump.",
+    "With an arm, pick the cylindrical light blue cup up, bypass <the plastic shampoo container>, then place the cylindrical light blue cup on <the light gray round grainy coaster>.",
+    "Secure the rounded base blue cup, move it around the rectangular dark green shampoo bottle, and place the rounded base blue cup squarely on the flat surface gray wooden coaster.",
+    "Take the medium blue cylindrical cup, keep its path away from the shampoo bottle with matte black pump, and place the medium blue cylindrical cup on the flat surface gray wooden coaster.",
+    "With an arm, bring the smooth blue drinking cup over to <the light gray round grainy coaster> and keep clear of <the rectangular dark green shampoo bottle>.",
+    "Pick the smooth blue cup for liquids up, route it away from the rectangular green plastic shampoo dispenser, and drop the smooth blue cup for liquids onto the smooth round palm-sized coaster.",
+    "Using an arm, carry the cylindrical light blue cup around the hand-sized shampoo bottle and place the cylindrical light blue cup onto the grainy texture coaster.",
+    "Move the smooth blue drinking cup to <the round coaster> while keeping its path away from <the rectangular dark green shampoo bottle>.",
+    "Take the medium-sized plastic blue cup, route it away from the shampoo container with dispensing pump, and set the medium-sized plastic blue cup onto the light gray round grainy coaster.",
+    "Take the cup for holding liquids to the grainy texture coaster while skirting the shampoo bottle with black pump, then release the cup for holding liquids on the grainy texture coaster.",
+    "With an arm, lift the medium-sized plastic blue cup, route past <the shampoo bottle with matte black pump>, and drop the medium-sized plastic blue cup onto <the small coaster with grain texture>.",
+    "Use an arm: pick the cylindrical light blue cup up, skirt <the medium size shampoo bottle>, then place the cylindrical light blue cup onto <the round coaster with light streaks>.",
+    "Carry the medium blue cylindrical cup toward the wooden coaster, keeping the medium blue cylindrical cup away from the rectangular dark green shampoo bottle, then set down.",
+    "Use an arm: take the cup with smooth plastic surface, avoid the rectangular green plastic shampoo dispenser during the move, and drop it on the light gray streaked wooden coaster.",
+    "Lift the medium-sized plastic blue cup, go around the shampoo bottle, green with black cap, and position the medium-sized plastic blue cup squarely on the coaster made of smooth wood.",
+    "Use an arm to lift the cup with smooth plastic surface, arc around the dark green bottle with pump, and place the cup with smooth plastic surface atop the round coaster.",
+    "Use an arm to move the cup with light blue color to the flat surface gray wooden coaster, keeping the cup with light blue color from bumping the green shampoo bottle.",
+    "Use an arm to bring the smooth blue drinking cup to the flat round wooden coaster, keeping the smooth blue drinking cup clear of the green shampoo bottle."
+  ],
+  "unseen": [
+    "With an arm, lift the blue cup, avoid <the dark green pump shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, route it around <the green bottle with pump top>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle for personal use>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the green bottle with pump top, and set it on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the green bottle with pump top, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the dark green pump shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle for personal use, and place it on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the dark green pump shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the green bottle with pump top, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle for personal use, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle for personal use, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the green bottle with pump top>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the dark green pump shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the dark green pump shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle for personal use, and set the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the green bottle with pump top, then set the handheld round blue cup down on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the green bottle with pump top>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, route it around <the green bottle with pump top>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around <the green bottle with pump top>, and place the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle for personal use, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the green bottle with pump top, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the green bottle with pump top, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the green bottle with pump top, and place it on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the dark green pump shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, steer it around the dark green pump shampoo bottle, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the dark green pump shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the dark green pump shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the green bottle with pump top>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the dark green pump shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the dark green pump shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle for personal use, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the shampoo bottle for personal use, then set the blue cup down on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the dark green pump shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, route it around <the green bottle with pump top>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the dark green pump shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the green bottle with pump top, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the green bottle with pump top, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the dark green pump shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the green bottle with pump top, and place it on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the dark green pump shampoo bottle>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the dark green pump shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle for personal use, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the dark green pump shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the dark green pump shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the dark green pump shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the dark green pump shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the dark green pump shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the dark green pump shampoo bottle, then set the blue cup down on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the green bottle with pump top>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the green bottle with pump top>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around <the green bottle with pump top>, and place the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle for personal use, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle for personal use, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the dark green pump shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the dark green pump shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle for personal use>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the green bottle with pump top, then set the small smooth cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle for personal use, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle for personal use, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the dark green pump shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the green bottle with pump top, and set the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the green bottle with pump top>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle for personal use, and set the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the green bottle with pump top, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the dark green pump shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the dark green pump shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle for personal use>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the green bottle with pump top, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the dark green pump shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the green bottle with pump top, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle for personal use, and place it on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the green bottle with pump top>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the green bottle with pump top, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the green bottle with pump top, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle for personal use, and place the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle for personal use>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the dark green pump shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle for personal use>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the green bottle with pump top, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle for personal use, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the green bottle with pump top>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the shampoo bottle for personal use>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the green bottle with pump top>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle for personal use, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle for personal use, then place the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle for personal use, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle for personal use, and place it on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle for personal use>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the shampoo bottle for personal use, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep clear of the shampoo bottle for personal use, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle for personal use, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle for personal use>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle for personal use, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle for personal use>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the green bottle with pump top, and set the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the dark green pump shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the dark green pump shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the green bottle with pump top>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the green bottle with pump top>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle for personal use, and set it on the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode45.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..5331ba9bf7a1b4e42094748682647269b43ce9b4
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the medium blue cylindrical cup, guide it past the pink shampoo bottle, and drop the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Carry the cylindrical light blue cup toward <the light gray streaked wooden coaster>, skirting <the smooth pink plastic shampoo bottle>, and set the cylindrical light blue cup down.",
+    "With an arm, lift the light blue plastic cup, avoid the pink shampoo container with pump top, and place the light blue plastic cup on the flat round wooden coaster.",
+    "Pick up the medium-sized plastic blue cup, keep its path away from <the rectangular pink bottle with dispenser>, and set the medium-sized plastic blue cup on <the smooth round palm-sized coaster>.",
+    "Use an arm, pick the smooth blue cup for liquids up, pass around the medium pink bottle for shampoo, then place the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Use an arm to move the blue rounded-bottom cup around the plastic shampoo bottle with black pump and rest the blue rounded-bottom cup on the round coaster.",
+    "Use an arm: pick the medium blue cylindrical cup up, skirt <the hand-sized pink shampoo container>, then place the medium blue cylindrical cup onto <the flat round wooden coaster>.",
+    "Secure the smooth blue drinking cup, move it around the smooth pink plastic shampoo bottle, and place the smooth blue drinking cup squarely on the small coaster with grain texture.",
+    "Grab the blue rounded-bottom cup, swing it away from <the shampoo bottle with shiny pink body>, and place the blue rounded-bottom cup on <the light gray streaked wooden coaster>.",
+    "Use an arm: take the cylindrical light blue cup, avoid the rectangular pink shampoo container during the move, and drop it on the light gray round grainy coaster.",
+    "Lift the medium blue cylindrical cup, guide it past the rectangular pink shampoo container, and rest the medium blue cylindrical cup on the round coaster.",
+    "Pick up the smooth blue cup for liquids, route it away from the pink shampoo container with pump top, then set the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "With an arm, pick the cup with light blue color up, bypass <the plastic shampoo bottle with black pump>, then place the cup with light blue color on <the flat surface gray wooden coaster>.",
+    "Move the cylindrical light blue cup toward the wooden coaster without passing near the rectangular pink bottle with dispenser, then set it down.",
+    "Lift the cup with light blue color, carry it around the rectangular pink bottle with dispenser, and place the cup with light blue color squarely on the coaster made of smooth wood.",
+    "With an arm, lift the medium blue cylindrical cup, guide it past the rectangular pink shampoo container, and put the medium blue cylindrical cup on the round coaster.",
+    "Using an arm, grasp the cup with smooth plastic surface, skirt the medium pink bottle for shampoo, and place the cup with smooth plastic surface atop the flat round wooden coaster.",
+    "Lift the smooth blue drinking cup, keep clear of the medium pink bottle for shampoo, and put the smooth blue drinking cup down on the flat surface gray wooden coaster.",
+    "Arm-lift the medium-sized plastic blue cup, swing around <the medium pink bottle for shampoo>, then place the medium-sized plastic blue cup onto <the round coaster with light streaks>.",
+    "Move the blue rounded-bottom cup to the light gray streaked wooden coaster while avoiding the plastic shampoo bottle with black pump, then place the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Take the cup for holding liquids to the flat surface gray wooden coaster while skirting the plastic shampoo bottle with black pump, then release the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Use the arm to carry the cup with smooth plastic surface around the rectangular pink shampoo container, then rest the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "Take the smooth blue cup for liquids in the arm, route around <the pink shampoo container with pump top>, and set it on <the coaster with circular shape>.",
+    "Lift the cup with smooth plastic surface, guide it around <the rectangular pink shampoo container>, then put the cup with smooth plastic surface onto <the small coaster with grain texture>.",
+    "Pick the cup with light blue color up, route it away from the plastic shampoo bottle with black pump, and drop the cup with light blue color onto the light gray streaked wooden coaster.",
+    "Take the medium-sized plastic blue cup, swing wide of the pink bottle with black dispenser, then rest the medium-sized plastic blue cup on the grainy texture coaster.",
+    "Use the arm to lift the cup with smooth plastic surface, pass the rectangular pink bottle with dispenser, and place the cup with smooth plastic surface on the wooden coaster.",
+    "Use an arm to move the plastic cup for drinks to the coaster with circular shape, keeping the plastic cup for drinks from bumping the medium pink bottle for shampoo.",
+    "With an arm, lift the medium blue cylindrical cup, avoid <the shampoo bottle with shiny pink body> on the way, and drop the medium blue cylindrical cup on <the coaster made of smooth wood>.",
+    "Pick up the smooth blue cup for liquids, keep clear of <the pink bottle with narrow top>, and drop the smooth blue cup for liquids onto <the small coaster with grain texture>.",
+    "Move the smooth blue drinking cup to <the round coaster with light streaks> while keeping the smooth blue drinking cup away from <the pink bottle with narrow top>, then release.",
+    "Using an arm, move the blue rounded-bottom cup to <the smooth round palm-sized coaster> while avoiding <the shampoo bottle with shiny pink body>, then release the blue rounded-bottom cup.",
+    "With an arm, lift the cylindrical light blue cup, keep it away from the rectangular pink shampoo container, and drop it onto the coaster with circular shape.",
+    "Slide the rounded base blue cup over to <the light gray round grainy coaster> without passing near <the pink shampoo bottle>.",
+    "Use the arm to move the cylindrical light blue cup past <the plastic shampoo bottle with black pump> and rest it on <the coaster with circular shape>.",
+    "Lift the blue rounded-bottom cup, go around the pink shampoo bottle, and position the blue rounded-bottom cup squarely on the flat round wooden coaster.",
+    "With an arm, move the smooth blue drinking cup past the smooth pink plastic shampoo bottle and place the smooth blue drinking cup on the wooden coaster.",
+    "Take the cup with light blue color, route it away from the rectangular pink shampoo container, and set the cup with light blue color onto the coaster with circular shape.",
+    "Carry the cup for holding liquids toward <the round coaster with light streaks>, keeping the path clear of <the rectangular pink bottle with dispenser>, then set down.",
+    "Move the cup with smooth plastic surface onto <the light gray round grainy coaster> and ensure the path stays away from <the hand-sized pink shampoo container>.",
+    "Take the light blue plastic cup, arc around <the shampoo bottle with shiny pink body>, and place the light blue plastic cup neatly on <the flat round wooden coaster>.",
+    "With an arm, lift the cup with light blue color, avoid the smooth pink plastic shampoo bottle, and set the cup with light blue color onto the coaster made of smooth wood.",
+    "Grab the blue rounded-bottom cup, route around the shampoo bottle with shiny pink body, then lower the blue rounded-bottom cup onto the coaster with circular shape.",
+    "Lift the smooth blue cup for liquids, route it away from the hand-sized pink shampoo container, then put the smooth blue cup for liquids squarely on the flat round wooden coaster.",
+    "Grab the smooth blue drinking cup, guide it away from the pink bottle with black dispenser, and set the smooth blue drinking cup neatly on the round coaster with light streaks.",
+    "Using an arm, carry the medium blue cylindrical cup around the plastic shampoo bottle with black pump and place the medium blue cylindrical cup onto the small coaster with grain texture.",
+    "Slide the medium-sized plastic blue cup toward the light gray streaked wooden coaster, detouring around the pink bottle with narrow top, then set the medium-sized plastic blue cup down.",
+    "Use an arm, take the rounded base blue cup, avoid <the rectangular pink shampoo container> on the way, and set on <the smooth round palm-sized coaster>.",
+    "Use an arm to lift the cup for holding liquids, arc around the plastic shampoo bottle with black pump, and place the cup for holding liquids atop the coaster made of smooth wood.",
+    "Use an arm, take the light blue plastic cup past the pink shampoo bottle without nearing it, and rest the light blue plastic cup on the grainy texture coaster.",
+    "Lift the rounded base blue cup, steer away from <the pink bottle with narrow top>, then place the rounded base blue cup on <the round coaster>.",
+    "With an arm, lift the smooth blue drinking cup, route past <the shampoo bottle with rectangular shape>, and drop the smooth blue drinking cup onto <the grainy texture coaster>.",
+    "Use an arm to grab the blue rounded-bottom cup, avoid the pink bottle with black dispenser, and set the blue rounded-bottom cup down on the light gray streaked wooden coaster.",
+    "Take the medium blue cylindrical cup, guide it away from <the shampoo bottle with shiny pink body>, and place the medium blue cylindrical cup squarely on <the round coaster with light streaks>.",
+    "Using an arm, carry the blue rounded-bottom cup past <the plastic shampoo bottle with black pump> and place the blue rounded-bottom cup squarely on <the grainy texture coaster>.",
+    "Move the smooth blue drinking cup onto the small coaster with grain texture while avoiding the medium pink bottle for shampoo, then let go of the smooth blue drinking cup.",
+    "Take the medium-sized plastic blue cup, keep its path away from the medium pink bottle for shampoo, and drop the medium-sized plastic blue cup on the grainy texture coaster.",
+    "Use an arm, keep the cup with light blue color from the pink bottle with narrow top, and lower the cup with light blue color onto the coaster with circular shape.",
+    "Use an arm to move the cup with light blue color toward the wooden coaster, keeping the cup with light blue color clear of the smooth pink plastic shampoo bottle.",
+    "Use an arm: grasp the plastic cup for drinks, avoid <the shampoo bottle with rectangular shape>, and place the plastic cup for drinks on <the coaster made of smooth wood>.",
+    "Carry the rounded base blue cup toward <the round coaster>, keeping clear of <the pink bottle with black dispenser>, and set the rounded base blue cup down.",
+    "Pick up the smooth blue drinking cup, avoid the pink bottle with narrow top along the way, and place the smooth blue drinking cup on the coaster with circular shape.",
+    "Use an arm to take the cup with light blue color around <the hand-sized pink shampoo container> and place the cup with light blue color on <the grainy texture coaster>.",
+    "Move the smooth blue cup for liquids to <the smooth round palm-sized coaster> while keeping its path away from <the hand-sized pink shampoo container>.",
+    "Lift the cup with light blue color, pass beside <the smooth pink plastic shampoo bottle> without contact, then place the cup with light blue color onto <the wooden coaster>.",
+    "Use an arm: grab the blue rounded-bottom cup, avoid the pink bottle with black dispenser on the way, then set the blue rounded-bottom cup on the round coaster.",
+    "Move the smooth blue cup for liquids onto the smooth round palm-sized coaster while avoiding the rectangular pink shampoo container, then let go of the smooth blue cup for liquids.",
+    "Carry the blue rounded-bottom cup toward the grainy texture coaster, keeping the blue rounded-bottom cup away from the plastic shampoo bottle with black pump, then set down.",
+    "Take the rounded base blue cup, keep its path away from the rectangular pink shampoo container, and place the rounded base blue cup on the grainy texture coaster.",
+    "Guide the cylindrical light blue cup with the arm around <the medium pink bottle for shampoo> and onto <the round coaster with light streaks>.",
+    "Use an arm to lift the medium-sized plastic blue cup, keep distance from <the rectangular pink bottle with dispenser>, and set the medium-sized plastic blue cup on <the flat round wooden coaster>.",
+    "With an arm, take the cup with smooth plastic surface, avoid the pink bottle with black dispenser, and put the cup with smooth plastic surface on the grainy texture coaster.",
+    "Secure the cup with smooth plastic surface, keep its path away from the shampoo bottle with rectangular shape, and set the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Move the cup with light blue color to the wooden coaster without crossing the hand-sized pink shampoo container, then release the cup with light blue color.",
+    "Using an arm, pick the rounded base blue cup up, skirt the rectangular pink bottle with dispenser, and place the rounded base blue cup on the round coaster with light streaks.",
+    "Lift the cup for holding liquids, pass by the shampoo bottle with rectangular shape without contact, then place the cup for holding liquids on the coaster made of smooth wood.",
+    "Lift the medium blue cylindrical cup, arc around the pink bottle with black dispenser, and place the medium blue cylindrical cup squarely on the round coaster with light streaks.",
+    "Using an arm, pick the smooth blue cup for liquids up, skirt the smooth pink plastic shampoo bottle, and place the smooth blue cup for liquids on the light gray streaked wooden coaster.",
+    "With an arm, bring the light blue plastic cup over to <the flat round wooden coaster> and keep clear of <the shampoo bottle with rectangular shape>.",
+    "Use an arm to bring the rounded base blue cup to the coaster made of smooth wood, keeping the rounded base blue cup clear of the medium pink bottle for shampoo.",
+    "Pick up the smooth blue cup for liquids, guide it past the pink shampoo bottle, and drop the smooth blue cup for liquids on the light gray round grainy coaster.",
+    "Carry the cup for holding liquids toward <the wooden coaster>, skirting <the medium pink bottle for shampoo>, and set the cup for holding liquids down.",
+    "With an arm, lift the cylindrical light blue cup, avoid the shampoo bottle with shiny pink body, and place the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Pick up the plastic cup for drinks, keep its path away from <the pink shampoo container with pump top>, and set the plastic cup for drinks on <the light gray round grainy coaster>.",
+    "Use an arm, pick the rounded base blue cup up, pass around the smooth pink plastic shampoo bottle, then place the rounded base blue cup on the light gray round grainy coaster.",
+    "Use an arm to move the light blue plastic cup around the pink shampoo bottle and rest the light blue plastic cup on the coaster made of smooth wood.",
+    "Use an arm: pick the light blue plastic cup up, skirt <the pink shampoo container with pump top>, then place the light blue plastic cup onto <the flat round wooden coaster>.",
+    "Secure the cylindrical light blue cup, move it around the pink bottle with black dispenser, and place the cylindrical light blue cup squarely on the coaster with circular shape.",
+    "Grab the blue rounded-bottom cup, swing it away from <the pink shampoo container with pump top>, and place the blue rounded-bottom cup on <the flat surface gray wooden coaster>.",
+    "Use an arm: take the smooth blue drinking cup, avoid the plastic shampoo bottle with black pump during the move, and drop it on the round coaster.",
+    "Lift the medium-sized plastic blue cup, guide it past the smooth pink plastic shampoo bottle, and rest the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "Pick up the cylindrical light blue cup, route it away from the pink shampoo bottle, then set the cylindrical light blue cup on the round coaster.",
+    "With an arm, pick the blue rounded-bottom cup up, bypass <the shampoo bottle with shiny pink body>, then place the blue rounded-bottom cup on <the round coaster>.",
+    "Move the rounded base blue cup toward the flat round wooden coaster without passing near the pink bottle with narrow top, then set it down.",
+    "Lift the plastic cup for drinks, carry it around the pink bottle with black dispenser, and place the plastic cup for drinks squarely on the smooth round palm-sized coaster.",
+    "With an arm, lift the cup with smooth plastic surface, guide it past the shampoo bottle with shiny pink body, and put the cup with smooth plastic surface on the wooden coaster.",
+    "Using an arm, grasp the cup with light blue color, skirt the rectangular pink bottle with dispenser, and place the cup with light blue color atop the round coaster.",
+    "Lift the cylindrical light blue cup, keep clear of the pink bottle with black dispenser, and put the cylindrical light blue cup down on the wooden coaster.",
+    "Arm-lift the rounded base blue cup, swing around <the rectangular pink shampoo container>, then place the rounded base blue cup onto <the wooden coaster>.",
+    "Move the cup for holding liquids to the coaster made of smooth wood while avoiding the pink shampoo container with pump top, then place the cup for holding liquids on the coaster made of smooth wood."
+  ],
+  "unseen": [
+    "With an arm, lift the blue cup, avoid <the plastic pink shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with black pump, and place it on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with black pump>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with black pump>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the plastic pink shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with black pump, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with black pump, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the plastic pink shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with black pump, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the glossy pink shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with black pump, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the glossy pink shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the plastic pink shampoo bottle>, and place the small smooth cup on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with black pump>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the plastic pink shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the glossy pink shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with black pump, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the glossy pink shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with black pump>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, steer it around the plastic pink shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the glossy pink shampoo bottle, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with black pump, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the plastic pink shampoo bottle>, and place it on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the plastic pink shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the shampoo bottle with black pump, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with black pump, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with black pump, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with black pump>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the plastic pink shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the glossy pink shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the glossy pink shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the glossy pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the glossy pink shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with black pump>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the glossy pink shampoo bottle, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the glossy pink shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the glossy pink shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the plastic pink shampoo bottle>, and place it on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the plastic pink shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the glossy pink shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the glossy pink shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the glossy pink shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle with black pump, and set it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the plastic pink shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with black pump, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with black pump>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with black pump, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the plastic pink shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the glossy pink shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with black pump>, and place it on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with black pump, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, carry it around the glossy pink shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the glossy pink shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the glossy pink shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the glossy pink shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle with black pump, and set it on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the glossy pink shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the glossy pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the plastic pink shampoo bottle>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the glossy pink shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with black pump, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the plastic pink shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle with black pump>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with black pump, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the shampoo bottle with black pump, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with black pump, and set the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the plastic pink shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the glossy pink shampoo bottle>, and set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the plastic pink shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the glossy pink shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with black pump, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the glossy pink shampoo bottle>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with black pump>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with black pump, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with black pump, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the glossy pink shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the glossy pink shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the glossy pink shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo bottle with black pump, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the glossy pink shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with black pump, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the plastic pink shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the glossy pink shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the plastic pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with black pump>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the plastic pink shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the shampoo bottle with black pump>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with black pump>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode46.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..82f7b539c52c8b0b3bd5cff7cfa2bf47c1ffc142
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the medium blue cylindrical cup, swing wide of the hand-sized pink shampoo container, then rest the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Pick the light blue plastic cup up, route it away from the shampoo bottle with rectangular shape, and drop the light blue plastic cup onto the round coaster.",
+    "Move the medium-sized plastic blue cup onto the round coaster while avoiding the rectangular pink shampoo container, then let go of the medium-sized plastic blue cup.",
+    "Move the medium-sized plastic blue cup to the coaster made of smooth wood while avoiding the smooth pink plastic shampoo bottle, then place the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Lift the light blue plastic cup, go around the pink shampoo container with pump top, and position the light blue plastic cup squarely on the round coaster with light streaks.",
+    "Grab the cylindrical light blue cup, swing it away from <the pink bottle with narrow top>, and place the cylindrical light blue cup on <the light gray round grainy coaster>.",
+    "Move the medium-sized plastic blue cup onto the round coaster while avoiding the rectangular pink bottle with dispenser, then let go of the medium-sized plastic blue cup.",
+    "Take the smooth blue cup for liquids to the flat round wooden coaster while skirting the shampoo bottle with rectangular shape, then release the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Use the arm to move the cup with smooth plastic surface past <the rectangular pink bottle with dispenser> and rest it on <the flat round wooden coaster>.",
+    "Use an arm to move the rounded base blue cup to the smooth round palm-sized coaster, keeping the rounded base blue cup from bumping the smooth pink plastic shampoo bottle.",
+    "Pick up the cup with light blue color, route it away from the pink shampoo container with pump top, then set the cup with light blue color on the flat round wooden coaster.",
+    "Move the smooth blue cup for liquids to the small coaster with grain texture without crossing the plastic shampoo bottle with black pump, then release the smooth blue cup for liquids.",
+    "Using an arm, move the light blue plastic cup to <the light gray round grainy coaster> while avoiding <the rectangular pink shampoo container>, then release the light blue plastic cup.",
+    "Use an arm to lift the plastic cup for drinks, arc around the pink bottle with narrow top, and place the plastic cup for drinks atop the coaster made of smooth wood.",
+    "Carry the medium-sized plastic blue cup toward <the light gray round grainy coaster>, keeping clear of <the shampoo bottle with shiny pink body>, and set the medium-sized plastic blue cup down.",
+    "Use an arm to move the cup with smooth plastic surface around the medium pink bottle for shampoo and rest the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Move the smooth blue cup for liquids toward the coaster made of smooth wood without passing near the plastic shampoo bottle with black pump, then set it down.",
+    "Arm-lift the medium-sized plastic blue cup, swing around <the smooth pink plastic shampoo bottle>, then place the medium-sized plastic blue cup onto <the flat round wooden coaster>.",
+    "Take the smooth blue drinking cup, route it away from the rectangular pink shampoo container, and set the smooth blue drinking cup onto the light gray streaked wooden coaster.",
+    "Use an arm to lift the medium-sized plastic blue cup, keep distance from <the pink shampoo container with pump top>, and set the medium-sized plastic blue cup on <the light gray streaked wooden coaster>.",
+    "Use an arm, take the cup with light blue color past the hand-sized pink shampoo container without nearing it, and rest the cup with light blue color on the flat surface gray wooden coaster.",
+    "Using an arm, pick the cup with smooth plastic surface up, skirt the hand-sized pink shampoo container, and place the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Use an arm: grab the rounded base blue cup, avoid the hand-sized pink shampoo container on the way, then set the rounded base blue cup on the wooden coaster.",
+    "Lift the cup with light blue color, guide it past the medium pink bottle for shampoo, and rest the cup with light blue color on the round coaster with light streaks.",
+    "Lift the blue rounded-bottom cup, steer away from <the pink shampoo bottle>, then place the blue rounded-bottom cup on <the smooth round palm-sized coaster>.",
+    "Pick up the medium blue cylindrical cup, guide it past the pink shampoo bottle, and drop the medium blue cylindrical cup on the flat surface gray wooden coaster.",
+    "Using an arm, carry the blue rounded-bottom cup around the shampoo bottle with shiny pink body and place the blue rounded-bottom cup onto the coaster with circular shape.",
+    "Use an arm, take the cup with smooth plastic surface, avoid <the smooth pink plastic shampoo bottle> on the way, and set on <the round coaster>.",
+    "Use an arm: pick the plastic cup for drinks up, skirt <the pink bottle with black dispenser>, then place the plastic cup for drinks onto <the flat surface gray wooden coaster>.",
+    "Take the cup with smooth plastic surface, keep its path away from the medium pink bottle for shampoo, and place the cup with smooth plastic surface on the coaster with circular shape.",
+    "Move the rounded base blue cup onto <the flat surface gray wooden coaster> and ensure the path stays away from <the pink shampoo bottle>.",
+    "Take the medium blue cylindrical cup, keep its path away from the pink shampoo bottle, and drop the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Use an arm: grasp the rounded base blue cup, avoid <the rectangular pink shampoo container>, and place the rounded base blue cup on <the coaster made of smooth wood>.",
+    "Carry the cup with light blue color toward <the flat surface gray wooden coaster>, skirting <the shampoo bottle with rectangular shape>, and set the cup with light blue color down.",
+    "Slide the cylindrical light blue cup over to <the flat round wooden coaster> without passing near <the rectangular pink shampoo container>.",
+    "Use an arm, pick the cylindrical light blue cup up, pass around the rectangular pink shampoo container, then place the cylindrical light blue cup on the round coaster with light streaks.",
+    "Slide the medium blue cylindrical cup toward the wooden coaster, detouring around the pink bottle with narrow top, then set the medium blue cylindrical cup down.",
+    "Grab the medium-sized plastic blue cup, guide it away from the plastic shampoo bottle with black pump, and set the medium-sized plastic blue cup neatly on the coaster made of smooth wood.",
+    "Lift the medium blue cylindrical cup, arc around the pink shampoo bottle, and place the medium blue cylindrical cup squarely on the flat round wooden coaster.",
+    "Use the arm to lift the rounded base blue cup, pass the medium pink bottle for shampoo, and place the rounded base blue cup on the wooden coaster.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid the shampoo bottle with rectangular shape, and set the medium-sized plastic blue cup onto the small coaster with grain texture.",
+    "Grab the cup with light blue color, route around the rectangular pink shampoo container, then lower the cup with light blue color onto the light gray round grainy coaster.",
+    "Pick up the cup with smooth plastic surface, keep clear of <the shampoo bottle with shiny pink body>, and drop the cup with smooth plastic surface onto <the small coaster with grain texture>.",
+    "Lift the light blue plastic cup, pass beside <the rectangular pink shampoo container> without contact, then place the light blue plastic cup onto <the coaster made of smooth wood>.",
+    "Use an arm to take the rounded base blue cup around <the rectangular pink bottle with dispenser> and place the rounded base blue cup on <the flat round wooden coaster>.",
+    "Carry the smooth blue cup for liquids toward <the light gray round grainy coaster>, keeping the path clear of <the medium pink bottle for shampoo>, then set down.",
+    "Using an arm, pick the plastic cup for drinks up, skirt the shampoo bottle with rectangular shape, and place the plastic cup for drinks on the coaster made of smooth wood.",
+    "With an arm, lift the cup with smooth plastic surface, guide it past the pink shampoo bottle, and put the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "Take the rounded base blue cup, guide it away from <the pink shampoo bottle>, and place the rounded base blue cup squarely on <the coaster with circular shape>.",
+    "Take the cup for holding liquids, arc around <the shampoo bottle with shiny pink body>, and place the cup for holding liquids neatly on <the smooth round palm-sized coaster>.",
+    "Lift the blue rounded-bottom cup, route it away from the rectangular pink bottle with dispenser, then put the blue rounded-bottom cup squarely on the light gray round grainy coaster.",
+    "Lift the cup for holding liquids, pass by the hand-sized pink shampoo container without contact, then place the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Use an arm: take the smooth blue cup for liquids, avoid the rectangular pink bottle with dispenser during the move, and drop it on the flat round wooden coaster.",
+    "Pick up the cup with light blue color, avoid the rectangular pink shampoo container along the way, and place the cup with light blue color on the round coaster.",
+    "With an arm, take the rounded base blue cup, avoid the hand-sized pink shampoo container, and put the rounded base blue cup on the light gray round grainy coaster.",
+    "Secure the light blue plastic cup, move it around the hand-sized pink shampoo container, and place the light blue plastic cup squarely on the flat round wooden coaster.",
+    "Use an arm to move the plastic cup for drinks toward the flat round wooden coaster, keeping the plastic cup for drinks clear of the shampoo bottle with rectangular shape.",
+    "Use an arm to bring the rounded base blue cup to the flat round wooden coaster, keeping the rounded base blue cup clear of the smooth pink plastic shampoo bottle.",
+    "Pick up the cup with light blue color, keep its path away from <the medium pink bottle for shampoo>, and set the cup with light blue color on <the coaster made of smooth wood>.",
+    "With an arm, bring the cup with light blue color over to <the coaster with circular shape> and keep clear of <the hand-sized pink shampoo container>.",
+    "Use an arm to grab the smooth blue drinking cup, avoid the shampoo bottle with rectangular shape, and set the smooth blue drinking cup down on the round coaster with light streaks.",
+    "Take the medium blue cylindrical cup in the arm, route around <the pink bottle with narrow top>, and set it on <the round coaster with light streaks>.",
+    "Secure the plastic cup for drinks, keep its path away from the plastic shampoo bottle with black pump, and set the plastic cup for drinks on the small coaster with grain texture.",
+    "Use an arm, keep the cup for holding liquids from the shampoo bottle with shiny pink body, and lower the cup for holding liquids onto the flat round wooden coaster.",
+    "With an arm, lift the light blue plastic cup, avoid the plastic shampoo bottle with black pump, and place the light blue plastic cup on the grainy texture coaster.",
+    "With an arm, lift the cup with smooth plastic surface, keep it away from the rectangular pink shampoo container, and drop it onto the small coaster with grain texture.",
+    "With an arm, pick the light blue plastic cup up, bypass <the medium pink bottle for shampoo>, then place the light blue plastic cup on <the round coaster>.",
+    "Lift the cup with light blue color, carry it around the rectangular pink bottle with dispenser, and place the cup with light blue color squarely on the grainy texture coaster.",
+    "Using an arm, carry the cylindrical light blue cup past <the smooth pink plastic shampoo bottle> and place the cylindrical light blue cup squarely on <the wooden coaster>.",
+    "Use the arm to carry the smooth blue cup for liquids around the pink shampoo container with pump top, then rest the smooth blue cup for liquids on the coaster made of smooth wood.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid <the medium pink bottle for shampoo> on the way, and drop the medium-sized plastic blue cup on <the wooden coaster>.",
+    "Guide the blue rounded-bottom cup with the arm around <the pink bottle with black dispenser> and onto <the coaster made of smooth wood>.",
+    "Using an arm, grasp the smooth blue drinking cup, skirt the shampoo bottle with rectangular shape, and place the smooth blue drinking cup atop the grainy texture coaster.",
+    "Lift the light blue plastic cup, keep clear of the pink bottle with black dispenser, and put the light blue plastic cup down on the flat surface gray wooden coaster.",
+    "Move the cup with light blue color to <the flat round wooden coaster> while keeping the cup with light blue color away from <the shampoo bottle with shiny pink body>, then release.",
+    "Move the plastic cup for drinks to <the flat surface gray wooden coaster> while keeping its path away from <the rectangular pink shampoo container>.",
+    "With an arm, lift the medium blue cylindrical cup, route past <the pink bottle with black dispenser>, and drop the medium blue cylindrical cup onto <the coaster with circular shape>.",
+    "Lift the smooth blue cup for liquids, guide it around <the hand-sized pink shampoo container>, then put the smooth blue cup for liquids onto <the flat round wooden coaster>.",
+    "With an arm, move the smooth blue drinking cup past the pink shampoo container with pump top and place the smooth blue drinking cup on the flat surface gray wooden coaster.",
+    "Carry the smooth blue cup for liquids toward the round coaster with light streaks, keeping the smooth blue cup for liquids away from the hand-sized pink shampoo container, then set down.",
+    "Take the smooth blue cup for liquids, swing wide of the rectangular pink shampoo container, then rest the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Pick the smooth blue cup for liquids up, route it away from the hand-sized pink shampoo container, and drop the smooth blue cup for liquids onto the wooden coaster.",
+    "Move the blue rounded-bottom cup onto the coaster made of smooth wood while avoiding the shampoo bottle with shiny pink body, then let go of the blue rounded-bottom cup.",
+    "Move the light blue plastic cup to the wooden coaster while avoiding the hand-sized pink shampoo container, then place the light blue plastic cup on the wooden coaster.",
+    "Lift the cup for holding liquids, go around the smooth pink plastic shampoo bottle, and position the cup for holding liquids squarely on the coaster with circular shape.",
+    "Grab the cup with smooth plastic surface, swing it away from <the pink bottle with narrow top>, and place the cup with smooth plastic surface on <the round coaster with light streaks>.",
+    "Move the cup with light blue color onto the light gray round grainy coaster while avoiding the hand-sized pink shampoo container, then let go of the cup with light blue color.",
+    "Take the rounded base blue cup to the flat round wooden coaster while skirting the rectangular pink bottle with dispenser, then release the rounded base blue cup on the flat round wooden coaster.",
+    "Use the arm to move the plastic cup for drinks past <the pink bottle with narrow top> and rest it on <the coaster made of smooth wood>.",
+    "Use an arm to move the smooth blue cup for liquids to the small coaster with grain texture, keeping the smooth blue cup for liquids from bumping the pink shampoo bottle.",
+    "Pick up the cup with light blue color, route it away from the pink shampoo container with pump top, then set the cup with light blue color on the coaster made of smooth wood.",
+    "Move the cup with smooth plastic surface to the coaster with circular shape without crossing the pink bottle with black dispenser, then release the cup with smooth plastic surface.",
+    "Using an arm, move the medium-sized plastic blue cup to <the smooth round palm-sized coaster> while avoiding <the plastic shampoo bottle with black pump>, then release the medium-sized plastic blue cup.",
+    "Use an arm to lift the smooth blue drinking cup, arc around the smooth pink plastic shampoo bottle, and place the smooth blue drinking cup atop the smooth round palm-sized coaster.",
+    "Carry the rounded base blue cup toward <the coaster with circular shape>, keeping clear of <the rectangular pink shampoo container>, and set the rounded base blue cup down.",
+    "Use an arm to move the plastic cup for drinks around the hand-sized pink shampoo container and rest the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Move the smooth blue drinking cup toward the small coaster with grain texture without passing near the shampoo bottle with shiny pink body, then set it down.",
+    "Arm-lift the blue rounded-bottom cup, swing around <the smooth pink plastic shampoo bottle>, then place the blue rounded-bottom cup onto <the coaster made of smooth wood>.",
+    "Take the blue rounded-bottom cup, route it away from the pink bottle with black dispenser, and set the blue rounded-bottom cup onto the light gray round grainy coaster.",
+    "Use an arm to lift the cup with smooth plastic surface, keep distance from <the pink shampoo container with pump top>, and set the cup with smooth plastic surface on <the coaster made of smooth wood>."
+  ],
+  "unseen": [
+    "Pick up the handheld round blue cup, keep it clear of <the glossy pink shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the glossy pink shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle with black pump, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the plastic pink shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the plastic pink shampoo bottle, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the glossy pink shampoo bottle>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, route it around <the glossy pink shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with black pump>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the glossy pink shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the plastic pink shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with black pump, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with black pump, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the plastic pink shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the glossy pink shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the glossy pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the plastic pink shampoo bottle>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the shampoo bottle with black pump, then set the blue cup down on the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with black pump>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the shampoo bottle with black pump>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the plastic pink shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle with black pump>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the plastic pink shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with black pump, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle with black pump, then set the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the glossy pink shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the plastic pink shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with black pump>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with black pump, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the plastic pink shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with black pump>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with black pump, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with black pump>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with black pump>, then place the small smooth cup onto <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the glossy pink shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with black pump>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the glossy pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the glossy pink shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the glossy pink shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the glossy pink shampoo bottle, and place the small smooth cup on the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with black pump>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with black pump, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with black pump>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the plastic pink shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with black pump, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the glossy pink shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the plastic pink shampoo bottle, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the plastic pink shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the plastic pink shampoo bottle>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with black pump>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with black pump, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the glossy pink shampoo bottle, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the glossy pink shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with black pump, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the glossy pink shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the glossy pink shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the plastic pink shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with black pump, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with black pump, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the plastic pink shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the glossy pink shampoo bottle, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the plastic pink shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the plastic pink shampoo bottle>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with black pump>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the plastic pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the plastic pink shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the plastic pink shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the plastic pink shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the plastic pink shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the plastic pink shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the glossy pink shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with black pump, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with black pump, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the plastic pink shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the glossy pink shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with black pump>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the glossy pink shampoo bottle>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the glossy pink shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the plastic pink shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the plastic pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the glossy pink shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the plastic pink shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with black pump, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with black pump, and place the blue cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the plastic pink shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the plastic pink shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with black pump>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the glossy pink shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the plastic pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the glossy pink shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode47.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..693934a532fba6a98de7d58b7b174166bf536690
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm: pick the light blue plastic cup up, skirt <the shampoo bottle with curved sides>, then place the light blue plastic cup onto <the wooden coaster>.",
+    "With an arm, lift the cup with smooth plastic surface, guide it past the handheld shampoo container, and put the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the plastic shampoo with orange label, and place the cylindrical light blue cup on the small coaster with grain texture.",
+    "Move the cup for holding liquids to <the coaster made of smooth wood> while keeping its path away from <the shampoo bottle with curved sides>.",
+    "Use an arm to take the cup with smooth plastic surface around <the white and blue shampoo container> and place the cup with smooth plastic surface on <the round coaster>.",
+    "Move the light blue plastic cup onto <the grainy texture coaster> and ensure the path stays away from <the blue top shampoo bottle>.",
+    "Guide the cup with light blue color with the arm around <the handheld shampoo container> and onto <the light gray round grainy coaster>.",
+    "With an arm, move the cup with light blue color past the shampoo bottle with blue cap and place the cup with light blue color on the coaster made of smooth wood.",
+    "Lift the cup with smooth plastic surface, guide it past the curved shampoo bottle, and rest the cup with smooth plastic surface on the wooden coaster.",
+    "Grab the cup with smooth plastic surface, route around the shampoo bottle with blue cap, then lower the cup with smooth plastic surface onto the coaster with circular shape.",
+    "Take the medium-sized plastic blue cup in the arm, route around <the bottle with smooth surface>, and set it on <the light gray round grainy coaster>.",
+    "Arm-lift the smooth blue drinking cup, swing around <the bottle with smooth surface>, then place the smooth blue drinking cup onto <the small coaster with grain texture>.",
+    "Use an arm to lift the cylindrical light blue cup, arc around the blue top shampoo bottle, and place the cylindrical light blue cup atop the flat surface gray wooden coaster.",
+    "Move the plastic cup for drinks toward the smooth round palm-sized coaster without passing near the plastic shampoo with orange label, then set it down.",
+    "Using an arm, carry the cup for holding liquids around the white and blue shampoo container and place the cup for holding liquids onto the round coaster.",
+    "Move the cup for holding liquids onto the round coaster with light streaks while avoiding the curved shampoo bottle, then let go of the cup for holding liquids.",
+    "Take the cup for holding liquids, arc around <the bottle with smooth surface>, and place the cup for holding liquids neatly on <the flat round wooden coaster>.",
+    "Use the arm to carry the cup with smooth plastic surface around the plastic shampoo with orange label, then rest the cup with smooth plastic surface on the round coaster.",
+    "Take the medium-sized plastic blue cup, keep its path away from the shampoo bottle with curved sides, and drop the medium-sized plastic blue cup on the coaster with circular shape.",
+    "Secure the plastic cup for drinks, keep its path away from the plastic shampoo with orange label, and set the plastic cup for drinks on the small coaster with grain texture.",
+    "Lift the cup with light blue color, arc around the plastic shampoo with orange label, and place the cup with light blue color squarely on the smooth round palm-sized coaster.",
+    "Lift the smooth blue cup for liquids, pass beside <the plastic shampoo bottle> without contact, then place the smooth blue cup for liquids onto <the light gray round grainy coaster>.",
+    "Use an arm, keep the smooth blue cup for liquids from the plastic shampoo with orange label, and lower the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Move the smooth blue cup for liquids to the light gray round grainy coaster without crossing the plastic shampoo bottle, then release the smooth blue cup for liquids.",
+    "With an arm, lift the rounded base blue cup, avoid the handheld shampoo container, and set the rounded base blue cup onto the flat round wooden coaster.",
+    "Lift the smooth blue drinking cup, go around the blue top shampoo bottle, and position the smooth blue drinking cup squarely on the coaster with circular shape.",
+    "Carry the smooth blue drinking cup toward the smooth round palm-sized coaster, keeping the smooth blue drinking cup away from the bottle with hexagonal blue cap, then set down.",
+    "Use an arm to move the cylindrical light blue cup around the curved shampoo bottle and rest the cylindrical light blue cup on the light gray round grainy coaster.",
+    "With an arm, lift the plastic cup for drinks, avoid <the medium-sized white plastic shampoo> on the way, and drop the plastic cup for drinks on <the light gray streaked wooden coaster>.",
+    "Use an arm to grab the cup with light blue color, avoid the plastic shampoo with orange label, and set the cup with light blue color down on the flat round wooden coaster.",
+    "With an arm, lift the plastic cup for drinks, route past <the medium-sized white plastic shampoo>, and drop the plastic cup for drinks onto <the grainy texture coaster>.",
+    "Lift the smooth blue drinking cup, keep clear of the bottle with smooth surface, and put the smooth blue drinking cup down on the flat round wooden coaster.",
+    "Lift the smooth blue cup for liquids, route it away from the white shampoo bottle, then put the smooth blue cup for liquids squarely on the round coaster with light streaks.",
+    "Lift the light blue plastic cup, guide it around <the plastic shampoo with orange label>, then put the light blue plastic cup onto <the coaster with circular shape>.",
+    "Carry the cup with light blue color toward <the flat round wooden coaster>, skirting <the bottle with hexagonal blue cap>, and set the cup with light blue color down.",
+    "Use the arm to lift the cup for holding liquids, pass the shampoo bottle with curved sides, and place the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Use the arm to move the rounded base blue cup past <the shampoo bottle with blue cap> and rest it on <the light gray streaked wooden coaster>.",
+    "Slide the plastic cup for drinks over to <the smooth round palm-sized coaster> without passing near <the shampoo bottle with curved sides>.",
+    "Using an arm, move the smooth blue drinking cup to <the flat surface gray wooden coaster> while avoiding <the plastic shampoo with orange label>, then release the smooth blue drinking cup.",
+    "Take the cylindrical light blue cup, swing wide of the white shampoo bottle, then rest the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Use an arm: grasp the cup with smooth plastic surface, avoid <the white shampoo bottle>, and place the cup with smooth plastic surface on <the flat surface gray wooden coaster>.",
+    "Use an arm, pick the blue rounded-bottom cup up, pass around the shampoo bottle with blue cap, then place the blue rounded-bottom cup on the coaster with circular shape.",
+    "With an arm, pick the light blue plastic cup up, bypass <the curved shampoo bottle>, then place the light blue plastic cup on <the smooth round palm-sized coaster>.",
+    "Use an arm, take the rounded base blue cup past the shampoo bottle with curved sides without nearing it, and rest the rounded base blue cup on the round coaster with light streaks.",
+    "Move the light blue plastic cup to the coaster made of smooth wood while avoiding the shampoo bottle with blue cap, then place the light blue plastic cup on the coaster made of smooth wood.",
+    "With an arm, lift the smooth blue cup for liquids, keep it away from the plastic shampoo bottle, and drop it onto the round coaster.",
+    "Using an arm, grasp the cup with light blue color, skirt the blue top shampoo bottle, and place the cup with light blue color atop the coaster with circular shape.",
+    "Pick up the smooth blue cup for liquids, guide it past the bottle with hexagonal blue cap, and drop the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "Pick up the light blue plastic cup, keep clear of <the curved shampoo bottle>, and drop the light blue plastic cup onto <the round coaster>.",
+    "Move the smooth blue cup for liquids onto the coaster made of smooth wood while avoiding the bottle with hexagonal blue cap, then let go of the smooth blue cup for liquids.",
+    "Carry the cup with light blue color toward <the grainy texture coaster>, keeping clear of <the plastic shampoo with orange label>, and set the cup with light blue color down.",
+    "Use an arm to move the cup for holding liquids to the coaster with circular shape, keeping the cup for holding liquids from bumping the blue top shampoo bottle.",
+    "Slide the cup with smooth plastic surface toward the flat round wooden coaster, detouring around the bottle with smooth surface, then set the cup with smooth plastic surface down.",
+    "Use an arm to lift the cup with light blue color, keep distance from <the white and blue shampoo container>, and set the cup with light blue color on <the wooden coaster>.",
+    "With an arm, bring the smooth blue cup for liquids over to <the wooden coaster> and keep clear of <the bottle with smooth surface>.",
+    "Take the light blue plastic cup, guide it away from <the shampoo bottle with curved sides>, and place the light blue plastic cup squarely on <the flat round wooden coaster>.",
+    "Secure the medium blue cylindrical cup, move it around the handheld shampoo container, and place the medium blue cylindrical cup squarely on the coaster with circular shape.",
+    "Use an arm, take the blue rounded-bottom cup, avoid <the handheld shampoo container> on the way, and set on <the round coaster with light streaks>.",
+    "Take the cup with smooth plastic surface, keep its path away from the blue top shampoo bottle, and place the cup with smooth plastic surface on the round coaster with light streaks.",
+    "Pick up the cup with light blue color, avoid the plastic shampoo bottle along the way, and place the cup with light blue color on the flat surface gray wooden coaster.",
+    "With an arm, lift the plastic cup for drinks, avoid the bottle with smooth surface, and place the plastic cup for drinks on the small coaster with grain texture.",
+    "Take the plastic cup for drinks to the flat surface gray wooden coaster while skirting the medium-sized white plastic shampoo, then release the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Using an arm, pick the light blue plastic cup up, skirt the shampoo bottle with blue cap, and place the light blue plastic cup on the coaster with circular shape.",
+    "Lift the medium-sized plastic blue cup, carry it around the bottle with hexagonal blue cap, and place the medium-sized plastic blue cup squarely on the light gray round grainy coaster.",
+    "Pick up the blue rounded-bottom cup, keep its path away from <the bottle with hexagonal blue cap>, and set the blue rounded-bottom cup on <the smooth round palm-sized coaster>.",
+    "Using an arm, carry the cup for holding liquids past <the bottle with smooth surface> and place the cup for holding liquids squarely on <the light gray round grainy coaster>.",
+    "Grab the medium blue cylindrical cup, swing it away from <the white shampoo bottle>, and place the medium blue cylindrical cup on <the smooth round palm-sized coaster>.",
+    "Lift the plastic cup for drinks, pass by the white shampoo bottle without contact, then place the plastic cup for drinks on the round coaster with light streaks.",
+    "Move the cup for holding liquids to <the flat round wooden coaster> while keeping the cup for holding liquids away from <the plastic shampoo bottle>, then release.",
+    "Pick the smooth blue drinking cup up, route it away from the white shampoo bottle, and drop the smooth blue drinking cup onto the coaster with circular shape.",
+    "Use an arm to move the cup with smooth plastic surface toward the coaster with circular shape, keeping the cup with smooth plastic surface clear of the handheld shampoo container.",
+    "Pick up the medium-sized plastic blue cup, route it away from the shampoo bottle with curved sides, then set the medium-sized plastic blue cup on the round coaster.",
+    "Carry the smooth blue drinking cup toward <the round coaster>, keeping the path clear of <the handheld shampoo container>, then set down.",
+    "Lift the cup with smooth plastic surface, steer away from <the medium-sized white plastic shampoo>, then place the cup with smooth plastic surface on <the light gray streaked wooden coaster>.",
+    "Use an arm: take the smooth blue drinking cup, avoid the plastic shampoo bottle during the move, and drop it on the round coaster with light streaks.",
+    "With an arm, take the plastic cup for drinks, avoid the white shampoo bottle, and put the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Use an arm to bring the plastic cup for drinks to the small coaster with grain texture, keeping the plastic cup for drinks clear of the plastic shampoo bottle.",
+    "Use an arm: grab the medium-sized plastic blue cup, avoid the shampoo bottle with curved sides on the way, then set the medium-sized plastic blue cup on the flat round wooden coaster.",
+    "Take the light blue plastic cup, route it away from the curved shampoo bottle, and set the light blue plastic cup onto the coaster made of smooth wood.",
+    "Grab the cup with light blue color, guide it away from the curved shampoo bottle, and set the cup with light blue color neatly on the grainy texture coaster.",
+    "Use an arm: pick the cup with light blue color up, skirt <the white and blue shampoo container>, then place the cup with light blue color onto <the coaster made of smooth wood>.",
+    "With an arm, lift the cup for holding liquids, guide it past the white shampoo bottle, and put the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Using an arm, pick the medium blue cylindrical cup up, skirt the plastic shampoo bottle, and place the medium blue cylindrical cup on the wooden coaster.",
+    "Move the rounded base blue cup to <the wooden coaster> while keeping its path away from <the plastic shampoo with orange label>.",
+    "Use an arm to take the smooth blue cup for liquids around <the plastic shampoo with orange label> and place the smooth blue cup for liquids on <the light gray streaked wooden coaster>.",
+    "Move the cup with light blue color onto <the small coaster with grain texture> and ensure the path stays away from <the blue top shampoo bottle>.",
+    "Guide the cylindrical light blue cup with the arm around <the medium-sized white plastic shampoo> and onto <the small coaster with grain texture>.",
+    "With an arm, move the cup for holding liquids past the bottle with hexagonal blue cap and place the cup for holding liquids on the round coaster with light streaks.",
+    "Lift the smooth blue cup for liquids, guide it past the shampoo bottle with curved sides, and rest the smooth blue cup for liquids on the light gray round grainy coaster.",
+    "Grab the rounded base blue cup, route around the bottle with hexagonal blue cap, then lower the rounded base blue cup onto the coaster with circular shape.",
+    "Take the smooth blue drinking cup in the arm, route around <the handheld shampoo container>, and set it on <the grainy texture coaster>.",
+    "Arm-lift the light blue plastic cup, swing around <the plastic shampoo with orange label>, then place the light blue plastic cup onto <the flat round wooden coaster>.",
+    "Use an arm to lift the medium blue cylindrical cup, arc around the shampoo bottle with blue cap, and place the medium blue cylindrical cup atop the coaster made of smooth wood.",
+    "Move the cup with smooth plastic surface toward the wooden coaster without passing near the plastic shampoo bottle, then set it down.",
+    "Using an arm, carry the cup with smooth plastic surface around the plastic shampoo with orange label and place the cup with smooth plastic surface onto the flat round wooden coaster.",
+    "Move the blue rounded-bottom cup onto the round coaster while avoiding the plastic shampoo with orange label, then let go of the blue rounded-bottom cup.",
+    "Take the cylindrical light blue cup, arc around <the bottle with smooth surface>, and place the cylindrical light blue cup neatly on <the light gray round grainy coaster>.",
+    "Use the arm to carry the medium-sized plastic blue cup around the white and blue shampoo container, then rest the medium-sized plastic blue cup on the flat surface gray wooden coaster.",
+    "Take the blue rounded-bottom cup, keep its path away from the curved shampoo bottle, and drop the blue rounded-bottom cup on the flat round wooden coaster.",
+    "Secure the blue rounded-bottom cup, keep its path away from the handheld shampoo container, and set the blue rounded-bottom cup on the light gray streaked wooden coaster."
+  ],
+  "unseen": [
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container in white and blue, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the blue-capped shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the white shampoo with orange design, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the white shampoo with orange design>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the white shampoo with orange design>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the white shampoo with orange design>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the shampoo container in white and blue>, and place it on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container in white and blue>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the white shampoo with orange design, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the white shampoo with orange design, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the shampoo container in white and blue, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo container in white and blue, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the blue-capped shampoo bottle, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container in white and blue>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the white shampoo with orange design, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, route it around <the blue-capped shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the blue-capped shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the blue-capped shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the blue-capped shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container in white and blue>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the blue-capped shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo container in white and blue, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the blue-capped shampoo bottle, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the white shampoo with orange design, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the blue-capped shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container in white and blue>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the blue-capped shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the white shampoo with orange design>, then place the small smooth cup onto <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the blue-capped shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the white shampoo with orange design>, and place it on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo container in white and blue, then place the blue cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the blue-capped shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo container in white and blue, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white shampoo with orange design, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the blue-capped shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container in white and blue, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container in white and blue>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container in white and blue, and place it on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the blue-capped shampoo bottle>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the white shampoo with orange design>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the blue-capped shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the blue-capped shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the white shampoo with orange design, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container in white and blue, and set it on the light gray coaster.",
+    "Grab the blue cup, steer it around the blue-capped shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the blue-capped shampoo bottle, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the white shampoo with orange design, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the blue-capped shampoo bottle>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white shampoo with orange design, and place it on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the light gray coaster.",
+    "Grab the blue cup, route it around <the white shampoo with orange design>, then place the blue cup onto <the light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container in white and blue>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, guide it around <the white shampoo with orange design>, and place it on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the blue-capped shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the white shampoo with orange design, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the white shampoo with orange design, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the shampoo container in white and blue, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the white shampoo with orange design, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container in white and blue>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container in white and blue, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container in white and blue, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the blue-capped shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the blue cup, avoid <the white shampoo with orange design>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container in white and blue>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container in white and blue, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container in white and blue, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the white shampoo with orange design, then set the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the blue-capped shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container in white and blue, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the blue-capped shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container in white and blue, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode48.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..155fe0258b19f7e6a4fd7caca5c3ea857afae81a
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With an arm, lift the medium blue cylindrical cup, keep it away from the shampoo bottle flat bottom edge, and drop it onto the wooden coaster.",
+    "Pick up the blue rounded-bottom cup, guide it past the bottle light blue rounded shape, and drop the blue rounded-bottom cup on the small coaster with grain texture.",
+    "With an arm, bring the medium blue cylindrical cup over to <the flat round wooden coaster> and keep clear of <the hand-sized shampoo bottle>.",
+    "Using an arm, carry the rounded base blue cup around the bottle of shampoo and place the rounded base blue cup onto the wooden coaster.",
+    "Use an arm to take the cup with smooth plastic surface around <the bottle light blue rounded shape> and place the cup with smooth plastic surface on <the small coaster with grain texture>.",
+    "Take the medium blue cylindrical cup, swing wide of the small smooth shampoo bottle, then rest the medium blue cylindrical cup on the flat surface gray wooden coaster.",
+    "Grab the smooth blue cup for liquids, swing it away from <the blue shampoo bottle>, and place the smooth blue cup for liquids on <the coaster with circular shape>.",
+    "Grab the cylindrical light blue cup, route around the shampoo bottle flat bottom edge, then lower the cylindrical light blue cup onto the light gray streaked wooden coaster.",
+    "Move the cup with smooth plastic surface onto the wooden coaster while avoiding the blue shampoo bottle, then let go of the cup with smooth plastic surface.",
+    "With an arm, move the cylindrical light blue cup past the blue shampoo bottle slender design and place the cylindrical light blue cup on the flat round wooden coaster.",
+    "Take the cylindrical light blue cup, arc around <the hand-sized shampoo bottle>, and place the cylindrical light blue cup neatly on <the round coaster with light streaks>.",
+    "Pick up the medium blue cylindrical cup, avoid the shampoo bottle flat bottom edge along the way, and place the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Slide the cup with smooth plastic surface over to <the light gray streaked wooden coaster> without passing near <the bottle of shampoo>.",
+    "Use an arm to grab the rounded base blue cup, avoid the shampoo bottle with white cap, and set the rounded base blue cup down on the small coaster with grain texture.",
+    "Take the plastic cup for drinks to the flat surface gray wooden coaster while skirting the small smooth shampoo bottle, then release the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Lift the medium-sized plastic blue cup, route it away from the hand-sized shampoo bottle, then put the medium-sized plastic blue cup squarely on the wooden coaster.",
+    "Use an arm, keep the cup with light blue color from the shampoo bottle tapered toward cap, and lower the cup with light blue color onto the light gray round grainy coaster.",
+    "Use an arm to move the cup with light blue color around the blue shampoo bottle slender design and rest the cup with light blue color on the coaster with circular shape.",
+    "Use an arm to move the blue rounded-bottom cup toward the light gray round grainy coaster, keeping the blue rounded-bottom cup clear of the blue shampoo bottle slender design.",
+    "Secure the smooth blue drinking cup, keep its path away from the hand-sized shampoo bottle, and set the smooth blue drinking cup on the flat round wooden coaster.",
+    "Arm-lift the medium blue cylindrical cup, swing around <the shampoo bottle flat bottom edge>, then place the medium blue cylindrical cup onto <the round coaster with light streaks>.",
+    "Using an arm, pick the medium blue cylindrical cup up, skirt the shampoo bottle tapered toward cap, and place the medium blue cylindrical cup on the grainy texture coaster.",
+    "Using an arm, grasp the smooth blue cup for liquids, skirt the small smooth shampoo bottle, and place the smooth blue cup for liquids atop the round coaster with light streaks.",
+    "Take the plastic cup for drinks, guide it away from <the bottle light blue rounded shape>, and place the plastic cup for drinks squarely on <the light gray round grainy coaster>.",
+    "Use the arm to carry the light blue plastic cup around the hand-sized shampoo bottle, then rest the light blue plastic cup on the light gray round grainy coaster.",
+    "Pick up the cylindrical light blue cup, route it away from the blue shampoo bottle slender design, then set the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Move the cylindrical light blue cup toward the light gray round grainy coaster without passing near the hand-sized shampoo bottle, then set it down.",
+    "Use the arm to move the cylindrical light blue cup past <the shampoo bottle tapered toward cap> and rest it on <the wooden coaster>.",
+    "Use an arm to lift the cup with light blue color, keep distance from <the light blue shampoo bottle small size>, and set the cup with light blue color on <the smooth round palm-sized coaster>.",
+    "Guide the medium-sized plastic blue cup with the arm around <the shampoo bottle tapered toward cap> and onto <the round coaster with light streaks>.",
+    "Take the blue rounded-bottom cup, route it away from the small smooth shampoo bottle, and set the blue rounded-bottom cup onto the round coaster.",
+    "With an arm, pick the light blue plastic cup up, bypass <the shampoo bottle with white cap>, then place the light blue plastic cup on <the light gray streaked wooden coaster>.",
+    "Lift the rounded base blue cup, guide it past the small smooth shampoo bottle, and rest the rounded base blue cup on the coaster made of smooth wood.",
+    "Pick up the medium-sized plastic blue cup, keep clear of <the light blue shampoo bottle small size>, and drop the medium-sized plastic blue cup onto <the round coaster>.",
+    "With an arm, lift the cup for holding liquids, avoid <the small smooth shampoo bottle> on the way, and drop the cup for holding liquids on <the flat round wooden coaster>.",
+    "Move the cup with light blue color onto <the flat round wooden coaster> and ensure the path stays away from <the shampoo bottle with white cap>.",
+    "Move the cup for holding liquids to <the flat surface gray wooden coaster> while keeping its path away from <the shampoo bottle with white cap>.",
+    "Slide the cylindrical light blue cup toward the flat round wooden coaster, detouring around the shampoo bottle flat bottom edge, then set the cylindrical light blue cup down.",
+    "Using an arm, carry the cup for holding liquids past <the blue shampoo bottle> and place the cup for holding liquids squarely on <the round coaster with light streaks>.",
+    "Lift the medium blue cylindrical cup, carry it around the shampoo bottle flat bottom edge, and place the medium blue cylindrical cup squarely on the light gray streaked wooden coaster.",
+    "Use an arm to bring the light blue plastic cup to the flat surface gray wooden coaster, keeping the light blue plastic cup clear of the bottle of shampoo.",
+    "Use an arm: pick the cylindrical light blue cup up, skirt <the blue shampoo bottle slender design>, then place the cylindrical light blue cup onto <the flat surface gray wooden coaster>.",
+    "Lift the smooth blue cup for liquids, arc around the curved light blue shampoo bottle, and place the smooth blue cup for liquids squarely on the flat surface gray wooden coaster.",
+    "Lift the medium blue cylindrical cup, pass beside <the shampoo bottle with matte plastic> without contact, then place the medium blue cylindrical cup onto <the coaster made of smooth wood>.",
+    "Lift the medium blue cylindrical cup, go around the curved light blue shampoo bottle, and position the medium blue cylindrical cup squarely on the round coaster.",
+    "Move the blue rounded-bottom cup onto the light gray streaked wooden coaster while avoiding the blue shampoo bottle slender design, then let go of the blue rounded-bottom cup.",
+    "Use the arm to lift the smooth blue drinking cup, pass the shampoo bottle flat bottom edge, and place the smooth blue drinking cup on the wooden coaster.",
+    "Carry the cup with smooth plastic surface toward <the smooth round palm-sized coaster>, keeping clear of <the light blue shampoo bottle small size>, and set the cup with smooth plastic surface down.",
+    "Take the medium blue cylindrical cup in the arm, route around <the curved light blue shampoo bottle>, and set it on <the smooth round palm-sized coaster>.",
+    "Use an arm to move the smooth blue drinking cup to the grainy texture coaster, keeping the smooth blue drinking cup from bumping the shampoo bottle tapered toward cap.",
+    "Using an arm, move the cylindrical light blue cup to <the light gray streaked wooden coaster> while avoiding <the curved light blue shampoo bottle>, then release the cylindrical light blue cup.",
+    "Take the light blue plastic cup, keep its path away from the blue shampoo bottle, and drop the light blue plastic cup on the round coaster.",
+    "Use an arm: grab the cup with light blue color, avoid the shampoo bottle flat bottom edge on the way, then set the cup with light blue color on the wooden coaster.",
+    "With an arm, lift the cup with light blue color, guide it past the curved light blue shampoo bottle, and put the cup with light blue color on the smooth round palm-sized coaster.",
+    "With an arm, lift the smooth blue cup for liquids, avoid the hand-sized shampoo bottle, and place the smooth blue cup for liquids on the smooth round palm-sized coaster.",
+    "Pick the smooth blue drinking cup up, route it away from the hand-sized shampoo bottle, and drop the smooth blue drinking cup onto the grainy texture coaster.",
+    "Use an arm, take the blue rounded-bottom cup past the curved light blue shampoo bottle without nearing it, and rest the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Move the smooth blue drinking cup to <the round coaster> while keeping the smooth blue drinking cup away from <the light blue shampoo bottle small size>, then release.",
+    "Move the cylindrical light blue cup to the smooth round palm-sized coaster without crossing the shampoo bottle with white cap, then release the cylindrical light blue cup.",
+    "Use an arm, pick the light blue plastic cup up, pass around the blue shampoo bottle, then place the light blue plastic cup on the coaster made of smooth wood.",
+    "Carry the blue rounded-bottom cup toward <the light gray round grainy coaster>, skirting <the curved light blue shampoo bottle>, and set the blue rounded-bottom cup down.",
+    "Secure the cup with smooth plastic surface, move it around the blue shampoo bottle, and place the cup with smooth plastic surface squarely on the flat round wooden coaster.",
+    "Use an arm, take the rounded base blue cup, avoid <the light blue shampoo bottle small size> on the way, and set on <the wooden coaster>.",
+    "Carry the smooth blue cup for liquids toward <the flat surface gray wooden coaster>, keeping the path clear of <the hand-sized shampoo bottle>, then set down.",
+    "Use an arm: grasp the medium-sized plastic blue cup, avoid <the bottle light blue rounded shape>, and place the medium-sized plastic blue cup on <the light gray streaked wooden coaster>.",
+    "Lift the cup with smooth plastic surface, keep clear of the shampoo bottle tapered toward cap, and put the cup with smooth plastic surface down on the smooth round palm-sized coaster.",
+    "Pick up the medium blue cylindrical cup, keep its path away from <the bottle of shampoo>, and set the medium blue cylindrical cup on <the smooth round palm-sized coaster>.",
+    "Grab the plastic cup for drinks, guide it away from the shampoo bottle with white cap, and set the plastic cup for drinks neatly on the light gray round grainy coaster.",
+    "Carry the blue rounded-bottom cup toward the smooth round palm-sized coaster, keeping the blue rounded-bottom cup away from the shampoo bottle with matte plastic, then set down.",
+    "Move the smooth blue cup for liquids to the flat surface gray wooden coaster while avoiding the curved light blue shampoo bottle, then place the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "Use an arm: take the cup with smooth plastic surface, avoid the blue shampoo bottle during the move, and drop it on the flat round wooden coaster.",
+    "With an arm, lift the rounded base blue cup, route past <the bottle of shampoo>, and drop the rounded base blue cup onto <the flat round wooden coaster>.",
+    "Lift the blue rounded-bottom cup, guide it around <the shampoo bottle with matte plastic>, then put the blue rounded-bottom cup onto <the grainy texture coaster>.",
+    "With an arm, take the medium blue cylindrical cup, avoid the hand-sized shampoo bottle, and put the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Take the plastic cup for drinks, keep its path away from the shampoo bottle tapered toward cap, and place the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "With an arm, lift the rounded base blue cup, avoid the curved light blue shampoo bottle, and set the rounded base blue cup onto the round coaster.",
+    "Lift the cylindrical light blue cup, steer away from <the shampoo bottle flat bottom edge>, then place the cylindrical light blue cup on <the smooth round palm-sized coaster>.",
+    "Lift the cup with smooth plastic surface, pass by the bottle light blue rounded shape without contact, then place the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Use an arm to lift the cup with light blue color, arc around the shampoo bottle with white cap, and place the cup with light blue color atop the grainy texture coaster.",
+    "Using an arm, pick the smooth blue cup for liquids up, skirt the shampoo bottle with white cap, and place the smooth blue cup for liquids on the coaster made of smooth wood.",
+    "With an arm, lift the cylindrical light blue cup, keep it away from the shampoo bottle tapered toward cap, and drop it onto the coaster with circular shape.",
+    "Pick up the smooth blue drinking cup, guide it past the shampoo bottle tapered toward cap, and drop the smooth blue drinking cup on the light gray round grainy coaster.",
+    "With an arm, bring the cup for holding liquids over to <the small coaster with grain texture> and keep clear of <the bottle of shampoo>.",
+    "Using an arm, carry the medium blue cylindrical cup around the light blue shampoo bottle small size and place the medium blue cylindrical cup onto the wooden coaster.",
+    "Use an arm to take the cylindrical light blue cup around <the hand-sized shampoo bottle> and place the cylindrical light blue cup on <the light gray streaked wooden coaster>.",
+    "Take the medium blue cylindrical cup, swing wide of the blue shampoo bottle slender design, then rest the medium blue cylindrical cup on the coaster with circular shape.",
+    "Grab the cup with smooth plastic surface, swing it away from <the small smooth shampoo bottle>, and place the cup with smooth plastic surface on <the smooth round palm-sized coaster>.",
+    "Grab the cylindrical light blue cup, route around the bottle light blue rounded shape, then lower the cylindrical light blue cup onto the light gray streaked wooden coaster.",
+    "Move the cylindrical light blue cup onto the smooth round palm-sized coaster while avoiding the bottle of shampoo, then let go of the cylindrical light blue cup.",
+    "With an arm, move the cup with light blue color past the bottle of shampoo and place the cup with light blue color on the coaster made of smooth wood.",
+    "Take the medium blue cylindrical cup, arc around <the hand-sized shampoo bottle>, and place the medium blue cylindrical cup neatly on <the round coaster>.",
+    "Pick up the smooth blue cup for liquids, avoid the shampoo bottle tapered toward cap along the way, and place the smooth blue cup for liquids on the coaster made of smooth wood.",
+    "Slide the blue rounded-bottom cup over to <the round coaster> without passing near <the shampoo bottle with matte plastic>.",
+    "Use an arm to grab the blue rounded-bottom cup, avoid the curved light blue shampoo bottle, and set the blue rounded-bottom cup down on the light gray streaked wooden coaster.",
+    "Take the smooth blue cup for liquids to the light gray round grainy coaster while skirting the hand-sized shampoo bottle, then release the smooth blue cup for liquids on the light gray round grainy coaster.",
+    "Lift the medium-sized plastic blue cup, route it away from the bottle light blue rounded shape, then put the medium-sized plastic blue cup squarely on the grainy texture coaster.",
+    "Use an arm, keep the cup for holding liquids from the hand-sized shampoo bottle, and lower the cup for holding liquids onto the smooth round palm-sized coaster.",
+    "Use an arm to move the smooth blue drinking cup around the shampoo bottle flat bottom edge and rest the smooth blue drinking cup on the round coaster.",
+    "Use an arm to move the plastic cup for drinks toward the coaster made of smooth wood, keeping the plastic cup for drinks clear of the light blue shampoo bottle small size.",
+    "Secure the medium-sized plastic blue cup, keep its path away from the blue shampoo bottle, and set the medium-sized plastic blue cup on the grainy texture coaster."
+  ],
+  "unseen": [
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the smooth bottle containing shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo container white rounded top, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the oval light blue shampoo container>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, guide it around <the smooth bottle containing shampoo>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container white rounded top, and place it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the shampoo container white rounded top>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the smooth bottle containing shampoo>, and place the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container white rounded top, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container white rounded top, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the oval light blue shampoo container, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo container white rounded top>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the smooth bottle containing shampoo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container white rounded top>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo container white rounded top, then set the handheld round blue cup down on the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth bottle containing shampoo>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, guide it around <the shampoo container white rounded top>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the oval light blue shampoo container, and place it on the light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo container white rounded top>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container white rounded top>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the oval light blue shampoo container, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the smooth bottle containing shampoo, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the smooth bottle containing shampoo, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the oval light blue shampoo container, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth bottle containing shampoo>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, guide it around <the smooth bottle containing shampoo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the smooth bottle containing shampoo, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the oval light blue shampoo container>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container white rounded top, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the oval light blue shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo container white rounded top, then set the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the oval light blue shampoo container>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container white rounded top, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth bottle containing shampoo, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the smooth bottle containing shampoo, then set the handheld round blue cup down on the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container white rounded top>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, guide it around <the smooth bottle containing shampoo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container white rounded top, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the oval light blue shampoo container>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container white rounded top, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo container white rounded top, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the oval light blue shampoo container, then set the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container white rounded top>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo container white rounded top, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the oval light blue shampoo container, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the oval light blue shampoo container, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth bottle containing shampoo>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the smooth bottle containing shampoo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container white rounded top, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container white rounded top>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the smooth bottle containing shampoo, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the oval light blue shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the shampoo container white rounded top, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the oval light blue shampoo container>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo container white rounded top, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container white rounded top, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the oval light blue shampoo container, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth bottle containing shampoo>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the smooth bottle containing shampoo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the smooth bottle containing shampoo, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the oval light blue shampoo container>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the smooth bottle containing shampoo>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the oval light blue shampoo container, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the oval light blue shampoo container, and set it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the smooth bottle containing shampoo, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the oval light blue shampoo container>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container white rounded top>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep clear of the shampoo container white rounded top, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo container white rounded top, then set the blue cup down on the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode49.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..961aa79911a805f5ba18de0bffc7bdc6e2ec548f
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the cup for holding liquids to the light gray streaked wooden coaster without crossing the light blue shampoo bottle small size, then release the cup for holding liquids.",
+    "Use the arm to lift the rounded base blue cup, pass the blue shampoo bottle slender design, and place the rounded base blue cup on the light gray round grainy coaster.",
+    "Use an arm, take the light blue plastic cup, avoid <the shampoo bottle with matte plastic> on the way, and set on <the flat surface gray wooden coaster>.",
+    "Move the medium-sized plastic blue cup to <the wooden coaster> while keeping its path away from <the bottle of shampoo>.",
+    "Lift the medium blue cylindrical cup, arc around the shampoo bottle with matte plastic, and place the medium blue cylindrical cup squarely on the flat surface gray wooden coaster.",
+    "Move the plastic cup for drinks toward the round coaster with light streaks without passing near the shampoo bottle tapered toward cap, then set it down.",
+    "Carry the medium blue cylindrical cup toward <the grainy texture coaster>, skirting <the small smooth shampoo bottle>, and set the medium blue cylindrical cup down.",
+    "Take the cylindrical light blue cup, guide it away from <the shampoo bottle with white cap>, and place the cylindrical light blue cup squarely on <the coaster made of smooth wood>.",
+    "Use the arm to carry the medium-sized plastic blue cup around the shampoo bottle with white cap, then rest the medium-sized plastic blue cup on the grainy texture coaster.",
+    "Grab the medium blue cylindrical cup, swing it away from <the small smooth shampoo bottle>, and place the medium blue cylindrical cup on <the light gray round grainy coaster>.",
+    "Move the smooth blue drinking cup onto the flat round wooden coaster while avoiding the blue shampoo bottle slender design, then let go of the smooth blue drinking cup.",
+    "Take the cup for holding liquids, keep its path away from the hand-sized shampoo bottle, and place the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Move the cup with smooth plastic surface to the light gray streaked wooden coaster while avoiding the curved light blue shampoo bottle, then place the cup with smooth plastic surface on the light gray streaked wooden coaster.",
+    "With an arm, pick the light blue plastic cup up, bypass <the curved light blue shampoo bottle>, then place the light blue plastic cup on <the round coaster>.",
+    "Guide the light blue plastic cup with the arm around <the shampoo bottle with white cap> and onto <the wooden coaster>.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the blue shampoo bottle, and set the cup with smooth plastic surface onto the round coaster.",
+    "With an arm, lift the light blue plastic cup, avoid the shampoo bottle flat bottom edge, and place the light blue plastic cup on the wooden coaster.",
+    "Pick up the medium blue cylindrical cup, route it away from the bottle of shampoo, then set the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Pick up the cup for holding liquids, avoid the bottle of shampoo along the way, and place the cup for holding liquids on the round coaster with light streaks.",
+    "Lift the smooth blue drinking cup, pass by the shampoo bottle with matte plastic without contact, then place the smooth blue drinking cup on the light gray round grainy coaster.",
+    "Use an arm, take the blue rounded-bottom cup past the bottle of shampoo without nearing it, and rest the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Use an arm to move the plastic cup for drinks around the small smooth shampoo bottle and rest the plastic cup for drinks on the light gray round grainy coaster.",
+    "Lift the cup for holding liquids, steer away from <the bottle of shampoo>, then place the cup for holding liquids on <the small coaster with grain texture>.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the blue shampoo bottle, and place the cylindrical light blue cup on the small coaster with grain texture.",
+    "Use an arm to lift the light blue plastic cup, arc around the shampoo bottle tapered toward cap, and place the light blue plastic cup atop the round coaster.",
+    "Use an arm to grab the smooth blue drinking cup, avoid the blue shampoo bottle, and set the smooth blue drinking cup down on the coaster made of smooth wood.",
+    "Use an arm to move the cylindrical light blue cup to the flat surface gray wooden coaster, keeping the cylindrical light blue cup from bumping the shampoo bottle with matte plastic.",
+    "Carry the medium-sized plastic blue cup toward the flat surface gray wooden coaster, keeping the medium-sized plastic blue cup away from the shampoo bottle with matte plastic, then set down.",
+    "Use an arm: pick the smooth blue cup for liquids up, skirt <the small smooth shampoo bottle>, then place the smooth blue cup for liquids onto <the light gray streaked wooden coaster>.",
+    "Pick up the cup for holding liquids, guide it past the small smooth shampoo bottle, and drop the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Lift the cup with smooth plastic surface, pass beside <the small smooth shampoo bottle> without contact, then place the cup with smooth plastic surface onto <the flat surface gray wooden coaster>.",
+    "With an arm, take the smooth blue drinking cup, avoid the hand-sized shampoo bottle, and put the smooth blue drinking cup on the wooden coaster.",
+    "Pick up the cup for holding liquids, keep its path away from <the shampoo bottle flat bottom edge>, and set the cup for holding liquids on <the small coaster with grain texture>.",
+    "Lift the rounded base blue cup, go around the shampoo bottle flat bottom edge, and position the rounded base blue cup squarely on the round coaster with light streaks.",
+    "With an arm, lift the plastic cup for drinks, keep it away from the light blue shampoo bottle small size, and drop it onto the flat surface gray wooden coaster.",
+    "Carry the plastic cup for drinks toward <the round coaster with light streaks>, keeping clear of <the shampoo bottle tapered toward cap>, and set the plastic cup for drinks down.",
+    "Use an arm: take the rounded base blue cup, avoid the blue shampoo bottle during the move, and drop it on the flat surface gray wooden coaster.",
+    "With an arm, lift the light blue plastic cup, route past <the blue shampoo bottle>, and drop the light blue plastic cup onto <the smooth round palm-sized coaster>.",
+    "Use an arm to move the blue rounded-bottom cup toward the round coaster, keeping the blue rounded-bottom cup clear of the curved light blue shampoo bottle.",
+    "Take the medium-sized plastic blue cup, keep its path away from the shampoo bottle tapered toward cap, and drop the medium-sized plastic blue cup on the wooden coaster.",
+    "With an arm, lift the smooth blue drinking cup, avoid <the bottle of shampoo> on the way, and drop the smooth blue drinking cup on <the flat surface gray wooden coaster>.",
+    "Using an arm, move the rounded base blue cup to <the round coaster> while avoiding <the blue shampoo bottle slender design>, then release the rounded base blue cup.",
+    "Use an arm to lift the blue rounded-bottom cup, keep distance from <the shampoo bottle with white cap>, and set the blue rounded-bottom cup on <the light gray round grainy coaster>.",
+    "Lift the cup with light blue color, carry it around the shampoo bottle tapered toward cap, and place the cup with light blue color squarely on the coaster with circular shape.",
+    "Carry the plastic cup for drinks toward <the light gray streaked wooden coaster>, keeping the path clear of <the bottle of shampoo>, then set down.",
+    "Using an arm, carry the cup with light blue color past <the hand-sized shampoo bottle> and place the cup with light blue color squarely on <the light gray streaked wooden coaster>.",
+    "Take the smooth blue drinking cup, swing wide of the bottle of shampoo, then rest the smooth blue drinking cup on the round coaster with light streaks.",
+    "Lift the medium-sized plastic blue cup, guide it past the blue shampoo bottle, and rest the medium-sized plastic blue cup on the flat round wooden coaster.",
+    "Lift the rounded base blue cup, route it away from the bottle light blue rounded shape, then put the rounded base blue cup squarely on the wooden coaster.",
+    "Move the smooth blue drinking cup onto the smooth round palm-sized coaster while avoiding the shampoo bottle tapered toward cap, then let go of the smooth blue drinking cup.",
+    "Move the smooth blue cup for liquids onto <the flat surface gray wooden coaster> and ensure the path stays away from <the shampoo bottle with white cap>.",
+    "Slide the smooth blue cup for liquids toward the light gray round grainy coaster, detouring around the light blue shampoo bottle small size, then set the smooth blue cup for liquids down.",
+    "Use the arm to move the cylindrical light blue cup past <the shampoo bottle flat bottom edge> and rest it on <the light gray round grainy coaster>.",
+    "Using an arm, pick the cup with smooth plastic surface up, skirt the shampoo bottle with white cap, and place the cup with smooth plastic surface on the round coaster with light streaks.",
+    "Secure the cup for holding liquids, keep its path away from the shampoo bottle flat bottom edge, and set the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Lift the blue rounded-bottom cup, guide it around <the light blue shampoo bottle small size>, then put the blue rounded-bottom cup onto <the small coaster with grain texture>.",
+    "Secure the light blue plastic cup, move it around the shampoo bottle tapered toward cap, and place the light blue plastic cup squarely on the flat surface gray wooden coaster.",
+    "Pick the cylindrical light blue cup up, route it away from the hand-sized shampoo bottle, and drop the cylindrical light blue cup onto the light gray streaked wooden coaster.",
+    "Take the medium-sized plastic blue cup in the arm, route around <the light blue shampoo bottle small size>, and set it on <the flat round wooden coaster>.",
+    "Move the cylindrical light blue cup to <the coaster with circular shape> while keeping the cylindrical light blue cup away from <the shampoo bottle flat bottom edge>, then release.",
+    "With an arm, bring the medium-sized plastic blue cup over to <the round coaster> and keep clear of <the blue shampoo bottle slender design>.",
+    "Grab the plastic cup for drinks, guide it away from the shampoo bottle flat bottom edge, and set the plastic cup for drinks neatly on the flat round wooden coaster.",
+    "Lift the smooth blue cup for liquids, keep clear of the light blue shampoo bottle small size, and put the smooth blue cup for liquids down on the coaster made of smooth wood.",
+    "With an arm, lift the plastic cup for drinks, guide it past the bottle light blue rounded shape, and put the plastic cup for drinks on the light gray round grainy coaster.",
+    "Use an arm, keep the light blue plastic cup from the light blue shampoo bottle small size, and lower the light blue plastic cup onto the coaster with circular shape.",
+    "Pick up the cup with light blue color, keep clear of <the small smooth shampoo bottle>, and drop the cup with light blue color onto <the round coaster>.",
+    "Use an arm: grab the cup with smooth plastic surface, avoid the curved light blue shampoo bottle on the way, then set the cup with smooth plastic surface on the coaster with circular shape.",
+    "Use an arm to bring the light blue plastic cup to the coaster with circular shape, keeping the light blue plastic cup clear of the blue shampoo bottle slender design.",
+    "Take the cup with smooth plastic surface, route it away from the bottle light blue rounded shape, and set the cup with smooth plastic surface onto the grainy texture coaster.",
+    "Grab the rounded base blue cup, route around the bottle of shampoo, then lower the rounded base blue cup onto the grainy texture coaster.",
+    "Slide the cup with light blue color over to <the flat round wooden coaster> without passing near <the shampoo bottle with white cap>.",
+    "With an arm, move the smooth blue drinking cup past the small smooth shampoo bottle and place the smooth blue drinking cup on the round coaster.",
+    "Using an arm, grasp the light blue plastic cup, skirt the curved light blue shampoo bottle, and place the light blue plastic cup atop the round coaster.",
+    "Using an arm, carry the cup with light blue color around the small smooth shampoo bottle and place the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Take the blue rounded-bottom cup, arc around <the shampoo bottle with white cap>, and place the blue rounded-bottom cup neatly on <the wooden coaster>.",
+    "Arm-lift the blue rounded-bottom cup, swing around <the bottle light blue rounded shape>, then place the blue rounded-bottom cup onto <the light gray round grainy coaster>.",
+    "Take the blue rounded-bottom cup to the smooth round palm-sized coaster while skirting the curved light blue shampoo bottle, then release the blue rounded-bottom cup on the smooth round palm-sized coaster.",
+    "Use an arm to take the light blue plastic cup around <the light blue shampoo bottle small size> and place the light blue plastic cup on <the light gray round grainy coaster>.",
+    "Use an arm, pick the medium blue cylindrical cup up, pass around the curved light blue shampoo bottle, then place the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Use an arm: grasp the smooth blue cup for liquids, avoid <the bottle light blue rounded shape>, and place the smooth blue cup for liquids on <the small coaster with grain texture>.",
+    "Move the cup with smooth plastic surface to the coaster with circular shape without crossing the hand-sized shampoo bottle, then release the cup with smooth plastic surface.",
+    "Use the arm to lift the cup with light blue color, pass the shampoo bottle with white cap, and place the cup with light blue color on the round coaster with light streaks.",
+    "Use an arm, take the cup with light blue color, avoid <the light blue shampoo bottle small size> on the way, and set on <the flat round wooden coaster>.",
+    "Move the smooth blue drinking cup to <the small coaster with grain texture> while keeping its path away from <the curved light blue shampoo bottle>.",
+    "Lift the cylindrical light blue cup, arc around the shampoo bottle tapered toward cap, and place the cylindrical light blue cup squarely on the smooth round palm-sized coaster.",
+    "Move the blue rounded-bottom cup toward the round coaster without passing near the light blue shampoo bottle small size, then set it down.",
+    "Carry the blue rounded-bottom cup toward <the flat surface gray wooden coaster>, skirting <the shampoo bottle with white cap>, and set the blue rounded-bottom cup down.",
+    "Take the plastic cup for drinks, guide it away from <the shampoo bottle with matte plastic>, and place the plastic cup for drinks squarely on <the flat surface gray wooden coaster>.",
+    "Use the arm to carry the smooth blue drinking cup around the blue shampoo bottle, then rest the smooth blue drinking cup on the coaster made of smooth wood.",
+    "Grab the smooth blue drinking cup, swing it away from <the shampoo bottle with white cap>, and place the smooth blue drinking cup on <the light gray round grainy coaster>.",
+    "Move the cup with smooth plastic surface onto the flat surface gray wooden coaster while avoiding the hand-sized shampoo bottle, then let go of the cup with smooth plastic surface.",
+    "Take the cup with smooth plastic surface, keep its path away from the bottle light blue rounded shape, and place the cup with smooth plastic surface on the coaster with circular shape.",
+    "Move the plastic cup for drinks to the flat round wooden coaster while avoiding the shampoo bottle with white cap, then place the plastic cup for drinks on the flat round wooden coaster.",
+    "With an arm, pick the blue rounded-bottom cup up, bypass <the bottle light blue rounded shape>, then place the blue rounded-bottom cup on <the round coaster with light streaks>.",
+    "Guide the cup with light blue color with the arm around <the bottle of shampoo> and onto <the grainy texture coaster>.",
+    "With an arm, lift the smooth blue drinking cup, avoid the shampoo bottle tapered toward cap, and set the smooth blue drinking cup onto the light gray streaked wooden coaster.",
+    "With an arm, lift the plastic cup for drinks, avoid the shampoo bottle with white cap, and place the plastic cup for drinks on the round coaster with light streaks.",
+    "Pick up the blue rounded-bottom cup, route it away from the light blue shampoo bottle small size, then set the blue rounded-bottom cup on the coaster with circular shape.",
+    "Pick up the medium-sized plastic blue cup, avoid the hand-sized shampoo bottle along the way, and place the medium-sized plastic blue cup on the coaster with circular shape.",
+    "Lift the smooth blue drinking cup, pass by the hand-sized shampoo bottle without contact, then place the smooth blue drinking cup on the wooden coaster."
+  ],
+  "unseen": [
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo container white rounded top>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the oval light blue shampoo container, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the smooth bottle containing shampoo>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo container white rounded top, and set it on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container white rounded top>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the smooth bottle containing shampoo, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the oval light blue shampoo container>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo container white rounded top, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo container white rounded top, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the oval light blue shampoo container>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the oval light blue shampoo container>, and set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the smooth bottle containing shampoo, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the oval light blue shampoo container, and place it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the smooth bottle containing shampoo>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the oval light blue shampoo container, and set it on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo container white rounded top>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the smooth bottle containing shampoo, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the oval light blue shampoo container>, and place the small smooth cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container white rounded top, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the smooth bottle containing shampoo, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the oval light blue shampoo container>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the oval light blue shampoo container>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the smooth bottle containing shampoo, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the oval light blue shampoo container, and place it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the oval light blue shampoo container, and set it on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the oval light blue shampoo container>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the smooth bottle containing shampoo, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the oval light blue shampoo container>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo container white rounded top, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the smooth bottle containing shampoo, then set the blue cup down on the light gray coaster.",
+    "Grab the blue cup, guide it around <the smooth bottle containing shampoo>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container white rounded top>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo container white rounded top, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the smooth bottle containing shampoo>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the smooth bottle containing shampoo, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container white rounded top>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container white rounded top, and set it on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container white rounded top>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the oval light blue shampoo container, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container white rounded top>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the smooth bottle containing shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the smooth bottle containing shampoo, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the oval light blue shampoo container>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container white rounded top>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the shampoo container white rounded top, then set the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the oval light blue shampoo container>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the oval light blue shampoo container, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo container white rounded top, and set it on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the smooth bottle containing shampoo>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the oval light blue shampoo container, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container white rounded top>, and place the small smooth cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container white rounded top, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the oval light blue shampoo container, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the smooth bottle containing shampoo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the smooth bottle containing shampoo>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, steer it around the oval light blue shampoo container, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the oval light blue shampoo container>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo container white rounded top, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container white rounded top, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container white rounded top>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the oval light blue shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the oval light blue shampoo container, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container white rounded top>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the oval light blue shampoo container, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the smooth bottle containing shampoo, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the smooth bottle containing shampoo>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the smooth bottle containing shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container white rounded top>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the smooth bottle containing shampoo, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the oval light blue shampoo container>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the oval light blue shampoo container, and place it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode5.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..713f4c8c805db69851c68b6aebe942c02d80adb9
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the smooth blue cup for liquids, keep clear of <the smooth shampoo container>, and drop the smooth blue cup for liquids onto <the round coaster>.",
+    "Move the smooth blue cup for liquids toward the light gray round grainy coaster without passing near the plastic shampoo bottle with smooth surface, then set it down.",
+    "Secure the rounded base blue cup, keep its path away from the bottle for shampoo with glossy finish, and set the rounded base blue cup on the round coaster.",
+    "Guide the smooth blue cup for liquids with the arm around <the shampoo bottle> and onto <the small coaster with grain texture>.",
+    "Use an arm: grasp the cup with light blue color, avoid <the bottle with yellow cap>, and place the cup with light blue color on <the flat round wooden coaster>.",
+    "Move the cup for holding liquids onto the round coaster with light streaks while avoiding the rectangular shampoo bottle with rounded top, then let go of the cup for holding liquids.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the hand-held shampoo bottle, and place the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Take the plastic cup for drinks, route it away from the shampoo bottle with rectangular base, and set the plastic cup for drinks onto the round coaster.",
+    "Take the light blue plastic cup to the light gray round grainy coaster while skirting the bottle with yellow cap, then release the light blue plastic cup on the light gray round grainy coaster.",
+    "Use an arm: pick the cylindrical light blue cup up, skirt <the smooth shampoo container>, then place the cylindrical light blue cup onto <the light gray round grainy coaster>.",
+    "Use an arm to move the smooth blue drinking cup toward the wooden coaster, keeping the smooth blue drinking cup clear of the hand-held shampoo bottle.",
+    "Use the arm to lift the cup with smooth plastic surface, pass the bottle with yellow cap, and place the cup with smooth plastic surface on the coaster with circular shape.",
+    "Use an arm: take the rounded base blue cup, avoid the bottle with yellow cap during the move, and drop it on the wooden coaster.",
+    "Arm-lift the plastic cup for drinks, swing around <the bottle for shampoo with glossy finish>, then place the plastic cup for drinks onto <the coaster made of smooth wood>.",
+    "Lift the medium-sized plastic blue cup, go around the hand-held shampoo bottle, and position the medium-sized plastic blue cup squarely on the light gray streaked wooden coaster.",
+    "With an arm, lift the cup with light blue color, avoid the shampoo bottle with rectangular base, and set the cup with light blue color onto the round coaster with light streaks.",
+    "Use an arm, keep the plastic cup for drinks from the white bottle with golden accents, and lower the plastic cup for drinks onto the light gray streaked wooden coaster.",
+    "Use an arm, pick the cup with light blue color up, pass around the bottle with yellow cap, then place the cup with light blue color on the coaster made of smooth wood.",
+    "Lift the cup for holding liquids, guide it past the shampoo bottle with rectangular base, and rest the cup for holding liquids on the flat round wooden coaster.",
+    "Grab the smooth blue drinking cup, swing it away from <the bottle with yellow cap>, and place the smooth blue drinking cup on <the round coaster with light streaks>.",
+    "Move the plastic cup for drinks onto <the round coaster> and ensure the path stays away from <the shampoo bottle>.",
+    "Using an arm, pick the smooth blue cup for liquids up, skirt the white bottle with golden accents, and place the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Grab the light blue plastic cup, route around the rectangular shampoo bottle with rounded top, then lower the light blue plastic cup onto the round coaster.",
+    "Using an arm, carry the plastic cup for drinks past <the shampoo bottle> and place the plastic cup for drinks squarely on <the coaster with circular shape>.",
+    "Take the rounded base blue cup, keep its path away from the shampoo bottle, and drop the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Lift the cup with smooth plastic surface, steer away from <the white shampoo bottle with golden top>, then place the cup with smooth plastic surface on <the round coaster with light streaks>.",
+    "With an arm, take the light blue plastic cup, avoid the plastic shampoo bottle with smooth surface, and put the light blue plastic cup on the round coaster with light streaks.",
+    "With an arm, lift the cylindrical light blue cup, keep it away from the white shampoo bottle with golden top, and drop it onto the small coaster with grain texture.",
+    "Carry the cup with light blue color toward <the round coaster>, skirting <the smooth shampoo container>, and set the cup with light blue color down.",
+    "Move the blue rounded-bottom cup to the flat surface gray wooden coaster while avoiding the plastic shampoo bottle with smooth surface, then place the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "With an arm, move the cylindrical light blue cup past the smooth shampoo container and place the cylindrical light blue cup on the small coaster with grain texture.",
+    "Lift the cup with light blue color, arc around the shampoo bottle with rectangular base, and place the cup with light blue color squarely on the coaster with circular shape.",
+    "Lift the medium blue cylindrical cup, carry it around the rectangular shampoo bottle with rounded top, and place the medium blue cylindrical cup squarely on the round coaster with light streaks.",
+    "Lift the blue rounded-bottom cup, pass beside <the bottle with yellow cap> without contact, then place the blue rounded-bottom cup onto <the wooden coaster>.",
+    "Pick the cup with smooth plastic surface up, route it away from the shampoo bottle with rectangular base, and drop the cup with smooth plastic surface onto the smooth round palm-sized coaster.",
+    "Secure the rounded base blue cup, move it around the white bottle with golden accents, and place the rounded base blue cup squarely on the light gray streaked wooden coaster.",
+    "Use the arm to move the cylindrical light blue cup past <the white shampoo bottle> and rest it on <the smooth round palm-sized coaster>.",
+    "Pick up the smooth blue cup for liquids, guide it past the bottle for shampoo with glossy finish, and drop the smooth blue cup for liquids on the grainy texture coaster.",
+    "Pick up the plastic cup for drinks, avoid the hand-held shampoo bottle along the way, and place the plastic cup for drinks on the round coaster.",
+    "With an arm, pick the light blue plastic cup up, bypass <the white shampoo bottle with golden top>, then place the light blue plastic cup on <the round coaster with light streaks>.",
+    "Use an arm to grab the medium-sized plastic blue cup, avoid the rectangular shampoo bottle with rounded top, and set the medium-sized plastic blue cup down on the light gray streaked wooden coaster.",
+    "Use the arm to carry the light blue plastic cup around the smooth shampoo container, then rest the light blue plastic cup on the light gray streaked wooden coaster.",
+    "Use an arm: grab the cup with light blue color, avoid the medium shampoo container on the way, then set the cup with light blue color on the grainy texture coaster.",
+    "Using an arm, grasp the smooth blue cup for liquids, skirt the shampoo bottle, and place the smooth blue cup for liquids atop the round coaster.",
+    "Move the rounded base blue cup to <the light gray round grainy coaster> while keeping the rounded base blue cup away from <the smooth shampoo container>, then release.",
+    "With an arm, lift the medium-sized plastic blue cup, route past <the white bottle with golden accents>, and drop the medium-sized plastic blue cup onto <the wooden coaster>.",
+    "Using an arm, pick the medium blue cylindrical cup up, skirt the medium shampoo container, and place the medium blue cylindrical cup on the coaster made of smooth wood.",
+    "Use an arm to bring the cup for holding liquids to the coaster with circular shape, keeping the cup for holding liquids clear of the shampoo bottle.",
+    "Carry the medium-sized plastic blue cup toward <the round coaster with light streaks>, keeping the path clear of <the plastic shampoo bottle with smooth surface>, then set down.",
+    "Pick up the cup with light blue color, keep its path away from <the shampoo bottle with rectangular base>, and set the cup with light blue color on <the round coaster with light streaks>.",
+    "Use an arm, take the medium-sized plastic blue cup, avoid <the medium shampoo container> on the way, and set on <the smooth round palm-sized coaster>.",
+    "Move the cylindrical light blue cup to the light gray round grainy coaster without crossing the plastic shampoo bottle with smooth surface, then release the cylindrical light blue cup.",
+    "Lift the cup for holding liquids, pass by the hand-held shampoo bottle without contact, then place the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Carry the light blue plastic cup toward <the round coaster>, keeping clear of <the white bottle with golden accents>, and set the light blue plastic cup down.",
+    "Take the cup with light blue color, swing wide of the bottle with yellow cap, then rest the cup with light blue color on the light gray streaked wooden coaster.",
+    "With an arm, lift the blue rounded-bottom cup, avoid <the hand-held shampoo bottle> on the way, and drop the blue rounded-bottom cup on <the light gray round grainy coaster>.",
+    "Use an arm to move the medium blue cylindrical cup to the wooden coaster, keeping the medium blue cylindrical cup from bumping the shampoo bottle with rectangular base.",
+    "Grab the cup with light blue color, guide it away from the bottle with yellow cap, and set the cup with light blue color neatly on the flat surface gray wooden coaster.",
+    "Use an arm to move the rounded base blue cup around the smooth shampoo container and rest the rounded base blue cup on the round coaster with light streaks.",
+    "With an arm, bring the cup for holding liquids over to <the coaster made of smooth wood> and keep clear of <the rectangular shampoo bottle with rounded top>.",
+    "Take the smooth blue cup for liquids in the arm, route around <the plastic shampoo bottle with smooth surface>, and set it on <the smooth round palm-sized coaster>.",
+    "Pick up the medium blue cylindrical cup, route it away from the rectangular shampoo bottle with rounded top, then set the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Take the medium blue cylindrical cup, guide it away from <the bottle with yellow cap>, and place the medium blue cylindrical cup squarely on <the light gray streaked wooden coaster>.",
+    "Carry the rounded base blue cup toward the round coaster with light streaks, keeping the rounded base blue cup away from the medium shampoo container, then set down.",
+    "Take the light blue plastic cup, arc around <the white bottle with golden accents>, and place the light blue plastic cup neatly on <the coaster with circular shape>.",
+    "Use an arm to lift the light blue plastic cup, keep distance from <the medium shampoo container>, and set the light blue plastic cup on <the smooth round palm-sized coaster>.",
+    "Use an arm to lift the cup for holding liquids, arc around the shampoo bottle, and place the cup for holding liquids atop the grainy texture coaster.",
+    "Take the blue rounded-bottom cup, keep its path away from the bottle with yellow cap, and place the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Slide the light blue plastic cup toward the coaster made of smooth wood, detouring around the shampoo bottle with rectangular base, then set the light blue plastic cup down.",
+    "Lift the cup for holding liquids, route it away from the bottle with yellow cap, then put the cup for holding liquids squarely on the coaster with circular shape.",
+    "Move the medium-sized plastic blue cup to <the smooth round palm-sized coaster> while keeping its path away from <the bottle with yellow cap>.",
+    "Lift the medium-sized plastic blue cup, keep clear of the bottle for shampoo with glossy finish, and put the medium-sized plastic blue cup down on the light gray round grainy coaster.",
+    "Slide the medium blue cylindrical cup over to <the round coaster with light streaks> without passing near <the shampoo bottle>.",
+    "With an arm, lift the cylindrical light blue cup, guide it past the hand-held shampoo bottle, and put the cylindrical light blue cup on the round coaster.",
+    "Lift the light blue plastic cup, guide it around <the rectangular shampoo bottle with rounded top>, then put the light blue plastic cup onto <the coaster made of smooth wood>.",
+    "Using an arm, carry the cup with light blue color around the shampoo bottle and place the cup with light blue color onto the round coaster with light streaks.",
+    "Move the cup with light blue color onto the round coaster with light streaks while avoiding the white bottle with golden accents, then let go of the cup with light blue color.",
+    "Use an arm to take the light blue plastic cup around <the white shampoo bottle> and place the light blue plastic cup on <the flat surface gray wooden coaster>.",
+    "Use an arm, take the rounded base blue cup past the bottle for shampoo with glossy finish without nearing it, and rest the rounded base blue cup on the coaster made of smooth wood.",
+    "Using an arm, move the rounded base blue cup to <the light gray streaked wooden coaster> while avoiding <the rectangular shampoo bottle with rounded top>, then release the rounded base blue cup.",
+    "Pick up the light blue plastic cup, keep clear of <the hand-held shampoo bottle>, and drop the light blue plastic cup onto <the flat round wooden coaster>.",
+    "Move the cup for holding liquids toward the grainy texture coaster without passing near the bottle with yellow cap, then set it down.",
+    "Secure the smooth blue cup for liquids, keep its path away from the medium shampoo container, and set the smooth blue cup for liquids on the coaster with circular shape.",
+    "Guide the cup with light blue color with the arm around <the bottle with yellow cap> and onto <the round coaster>.",
+    "Use an arm: grasp the smooth blue cup for liquids, avoid <the smooth shampoo container>, and place the smooth blue cup for liquids on <the smooth round palm-sized coaster>.",
+    "Move the rounded base blue cup onto the light gray round grainy coaster while avoiding the white bottle with golden accents, then let go of the rounded base blue cup.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the white shampoo bottle with golden top, and place the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "Take the smooth blue drinking cup, route it away from the shampoo bottle with rectangular base, and set the smooth blue drinking cup onto the flat surface gray wooden coaster.",
+    "Take the cylindrical light blue cup to the wooden coaster while skirting the shampoo bottle with rectangular base, then release the cylindrical light blue cup on the wooden coaster.",
+    "Use an arm: pick the medium-sized plastic blue cup up, skirt <the white bottle with golden accents>, then place the medium-sized plastic blue cup onto <the round coaster with light streaks>.",
+    "Use an arm to move the cup for holding liquids toward the light gray round grainy coaster, keeping the cup for holding liquids clear of the white shampoo bottle with golden top.",
+    "Use the arm to lift the blue rounded-bottom cup, pass the bottle with yellow cap, and place the blue rounded-bottom cup on the wooden coaster.",
+    "Use an arm: take the smooth blue cup for liquids, avoid the white bottle with golden accents during the move, and drop it on the flat surface gray wooden coaster.",
+    "Arm-lift the cylindrical light blue cup, swing around <the smooth shampoo container>, then place the cylindrical light blue cup onto <the round coaster>.",
+    "Lift the cup with light blue color, go around the shampoo bottle, and position the cup with light blue color squarely on the round coaster with light streaks.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the bottle for shampoo with glossy finish, and set the cup with smooth plastic surface onto the wooden coaster.",
+    "Use an arm, keep the cylindrical light blue cup from the white shampoo bottle, and lower the cylindrical light blue cup onto the coaster with circular shape.",
+    "Use an arm, pick the light blue plastic cup up, pass around the medium shampoo container, then place the light blue plastic cup on the round coaster with light streaks.",
+    "Lift the rounded base blue cup, guide it past the hand-held shampoo bottle, and rest the rounded base blue cup on the wooden coaster.",
+    "Grab the blue rounded-bottom cup, swing it away from <the bottle for shampoo with glossy finish>, and place the blue rounded-bottom cup on <the flat round wooden coaster>."
+  ],
+  "unseen": [
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with rounded yellow cap>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the white plastic shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white plastic shampoo bottle, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the medium-sized shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the medium-sized shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with rounded yellow cap>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the white plastic shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the white plastic shampoo bottle>, and set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the medium-sized shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the white plastic shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the white plastic shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with rounded yellow cap, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the white plastic shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the white plastic shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the medium-sized shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the medium-sized shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the medium-sized shampoo bottle>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the white plastic shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the white plastic shampoo bottle>, and set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the white plastic shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the medium-sized shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the white plastic shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the medium-sized shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with rounded yellow cap, then set the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the white plastic shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white plastic shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the medium-sized shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the medium-sized shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the white plastic shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the white plastic shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with rounded yellow cap, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with rounded yellow cap, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the white plastic shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the white plastic shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the white plastic shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the medium-sized shampoo bottle, and place it on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with rounded yellow cap>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with rounded yellow cap>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the white plastic shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the white plastic shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the medium-sized shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the medium-sized shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the medium-sized shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the white plastic shampoo bottle, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with rounded yellow cap>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the white plastic shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the medium-sized shampoo bottle>, and set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white plastic shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the white plastic shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the medium-sized shampoo bottle, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the medium-sized shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the medium-sized shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the medium-sized shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the medium-sized shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the white plastic shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with rounded yellow cap>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the shampoo bottle with rounded yellow cap>, and place the blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the medium-sized shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the white plastic shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the medium-sized shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode50.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode50.json
new file mode 100644
index 0000000000000000000000000000000000000000..8aacec9b565a2ad8e76c02d54bb1143f7a5bb5f2
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode50.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With an arm, lift the cup with smooth plastic surface, avoid <the smooth shampoo container> on the way, and drop the cup with smooth plastic surface on <the light gray streaked wooden coaster>.",
+    "Use an arm: grasp the cup with smooth plastic surface, avoid <the white shampoo bottle>, and place the cup with smooth plastic surface on <the small coaster with grain texture>.",
+    "Use an arm: grab the smooth blue cup for liquids, avoid the bottle for shampoo with glossy finish on the way, then set the smooth blue cup for liquids on the grainy texture coaster.",
+    "Take the cup with smooth plastic surface, arc around <the bottle for shampoo with glossy finish>, and place the cup with smooth plastic surface neatly on <the coaster with circular shape>.",
+    "Move the medium blue cylindrical cup onto the round coaster while avoiding the smooth shampoo container, then let go of the medium blue cylindrical cup.",
+    "Pick the smooth blue drinking cup up, route it away from the plastic shampoo bottle with smooth surface, and drop the smooth blue drinking cup onto the light gray round grainy coaster.",
+    "Lift the blue rounded-bottom cup, guide it around <the bottle for shampoo with glossy finish>, then put the blue rounded-bottom cup onto <the light gray streaked wooden coaster>.",
+    "With an arm, lift the rounded base blue cup, keep it away from the white shampoo bottle with golden top, and drop it onto the coaster with circular shape.",
+    "Carry the medium blue cylindrical cup toward <the wooden coaster>, keeping the path clear of <the white bottle with golden accents>, then set down.",
+    "Take the smooth blue drinking cup, keep its path away from the medium shampoo container, and place the smooth blue drinking cup on the round coaster.",
+    "Pick up the cup with light blue color, route it away from the plastic shampoo bottle with smooth surface, then set the cup with light blue color on the flat round wooden coaster.",
+    "Using an arm, grasp the plastic cup for drinks, skirt the rectangular shampoo bottle with rounded top, and place the plastic cup for drinks atop the round coaster with light streaks.",
+    "Lift the blue rounded-bottom cup, steer away from <the bottle with yellow cap>, then place the blue rounded-bottom cup on <the coaster made of smooth wood>.",
+    "Secure the cup with smooth plastic surface, move it around the hand-held shampoo bottle, and place the cup with smooth plastic surface squarely on the round coaster.",
+    "Using an arm, move the rounded base blue cup to <the flat round wooden coaster> while avoiding <the shampoo bottle with rectangular base>, then release the rounded base blue cup.",
+    "Use the arm to carry the light blue plastic cup around the rectangular shampoo bottle with rounded top, then rest the light blue plastic cup on the smooth round palm-sized coaster.",
+    "Take the smooth blue drinking cup, keep its path away from the bottle for shampoo with glossy finish, and drop the smooth blue drinking cup on the flat round wooden coaster.",
+    "Grab the cup with light blue color, route around the white shampoo bottle, then lower the cup with light blue color onto the coaster with circular shape.",
+    "Lift the cylindrical light blue cup, carry it around the rectangular shampoo bottle with rounded top, and place the cylindrical light blue cup squarely on the flat round wooden coaster.",
+    "Lift the medium-sized plastic blue cup, go around the rectangular shampoo bottle with rounded top, and position the medium-sized plastic blue cup squarely on the wooden coaster.",
+    "Pick up the rounded base blue cup, keep its path away from <the shampoo bottle with rectangular base>, and set the rounded base blue cup on <the round coaster with light streaks>.",
+    "Use an arm to move the cylindrical light blue cup toward the round coaster, keeping the cylindrical light blue cup clear of the bottle with yellow cap.",
+    "Pick up the cylindrical light blue cup, guide it past the bottle for shampoo with glossy finish, and drop the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Use an arm to grab the cup for holding liquids, avoid the white bottle with golden accents, and set the cup for holding liquids down on the light gray round grainy coaster.",
+    "Take the medium-sized plastic blue cup to the small coaster with grain texture while skirting the bottle with yellow cap, then release the medium-sized plastic blue cup on the small coaster with grain texture.",
+    "Slide the cup with smooth plastic surface over to <the small coaster with grain texture> without passing near <the white shampoo bottle>.",
+    "Lift the rounded base blue cup, pass by the hand-held shampoo bottle without contact, then place the rounded base blue cup on the coaster with circular shape.",
+    "Move the smooth blue cup for liquids to <the round coaster with light streaks> while keeping the smooth blue cup for liquids away from <the bottle for shampoo with glossy finish>, then release.",
+    "Use the arm to lift the medium blue cylindrical cup, pass the smooth shampoo container, and place the medium blue cylindrical cup on the small coaster with grain texture.",
+    "Using an arm, pick the cup with smooth plastic surface up, skirt the shampoo bottle with rectangular base, and place the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "Take the blue rounded-bottom cup in the arm, route around <the smooth shampoo container>, and set it on <the wooden coaster>.",
+    "With an arm, move the medium blue cylindrical cup past the shampoo bottle and place the medium blue cylindrical cup on the wooden coaster.",
+    "Use an arm: pick the cup with smooth plastic surface up, skirt <the white shampoo bottle>, then place the cup with smooth plastic surface onto <the coaster made of smooth wood>.",
+    "Lift the medium blue cylindrical cup, guide it past the white shampoo bottle, and rest the medium blue cylindrical cup on the wooden coaster.",
+    "Lift the cup for holding liquids, route it away from the hand-held shampoo bottle, then put the cup for holding liquids squarely on the light gray streaked wooden coaster.",
+    "Move the medium-sized plastic blue cup onto <the flat round wooden coaster> and ensure the path stays away from <the white bottle with golden accents>.",
+    "Using an arm, carry the rounded base blue cup around the white shampoo bottle with golden top and place the rounded base blue cup onto the wooden coaster.",
+    "Grab the blue rounded-bottom cup, swing it away from <the shampoo bottle>, and place the blue rounded-bottom cup on <the round coaster with light streaks>.",
+    "Take the light blue plastic cup, guide it away from <the bottle for shampoo with glossy finish>, and place the light blue plastic cup squarely on <the grainy texture coaster>.",
+    "Lift the plastic cup for drinks, pass beside <the white shampoo bottle with golden top> without contact, then place the plastic cup for drinks onto <the round coaster with light streaks>.",
+    "Pick up the cylindrical light blue cup, keep clear of <the shampoo bottle with rectangular base>, and drop the cylindrical light blue cup onto <the smooth round palm-sized coaster>.",
+    "Use an arm, pick the medium-sized plastic blue cup up, pass around the medium shampoo container, then place the medium-sized plastic blue cup on the wooden coaster.",
+    "Guide the medium blue cylindrical cup with the arm around <the white shampoo bottle> and onto <the light gray round grainy coaster>.",
+    "Use an arm, take the cylindrical light blue cup past the white bottle with golden accents without nearing it, and rest the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Use an arm to move the cylindrical light blue cup around the bottle with yellow cap and rest the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Use an arm: take the cup with smooth plastic surface, avoid the plastic shampoo bottle with smooth surface during the move, and drop it on the coaster made of smooth wood.",
+    "Use an arm, take the medium-sized plastic blue cup, avoid <the bottle with yellow cap> on the way, and set on <the coaster with circular shape>.",
+    "Carry the blue rounded-bottom cup toward <the flat round wooden coaster>, keeping clear of <the white shampoo bottle>, and set the blue rounded-bottom cup down.",
+    "Move the medium-sized plastic blue cup to the light gray round grainy coaster while avoiding the plastic shampoo bottle with smooth surface, then place the medium-sized plastic blue cup on the light gray round grainy coaster.",
+    "Carry the plastic cup for drinks toward <the round coaster with light streaks>, skirting <the shampoo bottle>, and set the plastic cup for drinks down.",
+    "Take the smooth blue cup for liquids, swing wide of the shampoo bottle, then rest the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Secure the medium blue cylindrical cup, keep its path away from the medium shampoo container, and set the medium blue cylindrical cup on the coaster with circular shape.",
+    "Use an arm to move the rounded base blue cup to the coaster made of smooth wood, keeping the rounded base blue cup from bumping the white bottle with golden accents.",
+    "Use an arm to lift the cup with light blue color, keep distance from <the white shampoo bottle>, and set the cup with light blue color on <the coaster with circular shape>.",
+    "Move the cylindrical light blue cup toward the flat round wooden coaster without passing near the shampoo bottle with rectangular base, then set it down.",
+    "With an arm, bring the cup with smooth plastic surface over to <the flat surface gray wooden coaster> and keep clear of <the shampoo bottle with rectangular base>.",
+    "With an arm, take the cylindrical light blue cup, avoid the white shampoo bottle, and put the cylindrical light blue cup on the coaster with circular shape.",
+    "With an arm, lift the cylindrical light blue cup, route past <the rectangular shampoo bottle with rounded top>, and drop the cylindrical light blue cup onto <the smooth round palm-sized coaster>.",
+    "Use an arm to lift the smooth blue drinking cup, arc around the shampoo bottle, and place the smooth blue drinking cup atop the flat surface gray wooden coaster.",
+    "Use the arm to move the cup with light blue color past <the white shampoo bottle with golden top> and rest it on <the wooden coaster>.",
+    "Lift the blue rounded-bottom cup, arc around the rectangular shampoo bottle with rounded top, and place the blue rounded-bottom cup squarely on the light gray streaked wooden coaster.",
+    "Carry the medium blue cylindrical cup toward the coaster made of smooth wood, keeping the medium blue cylindrical cup away from the bottle with yellow cap, then set down.",
+    "Use an arm to bring the cup for holding liquids to the grainy texture coaster, keeping the cup for holding liquids clear of the shampoo bottle with rectangular base.",
+    "With an arm, lift the plastic cup for drinks, guide it past the shampoo bottle with rectangular base, and put the plastic cup for drinks on the flat round wooden coaster.",
+    "Use an arm to take the light blue plastic cup around <the white shampoo bottle with golden top> and place the light blue plastic cup on <the coaster with circular shape>.",
+    "Using an arm, pick the rounded base blue cup up, skirt the hand-held shampoo bottle, and place the rounded base blue cup on the flat surface gray wooden coaster.",
+    "With an arm, lift the light blue plastic cup, avoid the shampoo bottle with rectangular base, and set the light blue plastic cup onto the wooden coaster.",
+    "Move the smooth blue drinking cup to the round coaster without crossing the bottle for shampoo with glossy finish, then release the smooth blue drinking cup.",
+    "Lift the smooth blue cup for liquids, keep clear of the white bottle with golden accents, and put the smooth blue cup for liquids down on the grainy texture coaster.",
+    "Move the cylindrical light blue cup to <the light gray streaked wooden coaster> while keeping its path away from <the white shampoo bottle>.",
+    "With an arm, lift the light blue plastic cup, avoid the shampoo bottle with rectangular base, and place the light blue plastic cup on the flat surface gray wooden coaster.",
+    "Grab the blue rounded-bottom cup, guide it away from the smooth shampoo container, and set the blue rounded-bottom cup neatly on the small coaster with grain texture.",
+    "Take the medium blue cylindrical cup, route it away from the shampoo bottle, and set the medium blue cylindrical cup onto the grainy texture coaster.",
+    "Use an arm, keep the plastic cup for drinks from the shampoo bottle with rectangular base, and lower the plastic cup for drinks onto the round coaster with light streaks.",
+    "Arm-lift the light blue plastic cup, swing around <the rectangular shampoo bottle with rounded top>, then place the light blue plastic cup onto <the small coaster with grain texture>.",
+    "Slide the blue rounded-bottom cup toward the light gray round grainy coaster, detouring around the plastic shampoo bottle with smooth surface, then set the blue rounded-bottom cup down.",
+    "Using an arm, carry the plastic cup for drinks past <the plastic shampoo bottle with smooth surface> and place the plastic cup for drinks squarely on <the light gray streaked wooden coaster>.",
+    "Pick up the light blue plastic cup, avoid the shampoo bottle with rectangular base along the way, and place the light blue plastic cup on the flat surface gray wooden coaster.",
+    "Move the smooth blue drinking cup onto the small coaster with grain texture while avoiding the bottle with yellow cap, then let go of the smooth blue drinking cup.",
+    "With an arm, pick the plastic cup for drinks up, bypass <the smooth shampoo container>, then place the plastic cup for drinks on <the light gray streaked wooden coaster>.",
+    "With an arm, lift the rounded base blue cup, avoid <the rectangular shampoo bottle with rounded top> on the way, and drop the rounded base blue cup on <the smooth round palm-sized coaster>.",
+    "Use an arm: grasp the cup with smooth plastic surface, avoid <the bottle for shampoo with glossy finish>, and place the cup with smooth plastic surface on <the coaster with circular shape>.",
+    "Use an arm: grab the light blue plastic cup, avoid the shampoo bottle on the way, then set the light blue plastic cup on the small coaster with grain texture.",
+    "Take the light blue plastic cup, arc around <the plastic shampoo bottle with smooth surface>, and place the light blue plastic cup neatly on <the flat surface gray wooden coaster>.",
+    "Move the smooth blue cup for liquids onto the grainy texture coaster while avoiding the bottle for shampoo with glossy finish, then let go of the smooth blue cup for liquids.",
+    "Pick the plastic cup for drinks up, route it away from the white shampoo bottle, and drop the plastic cup for drinks onto the smooth round palm-sized coaster.",
+    "Lift the rounded base blue cup, guide it around <the white shampoo bottle with golden top>, then put the rounded base blue cup onto <the flat surface gray wooden coaster>.",
+    "With an arm, lift the cup with light blue color, keep it away from the white shampoo bottle, and drop it onto the flat round wooden coaster.",
+    "Carry the blue rounded-bottom cup toward <the round coaster>, keeping the path clear of <the plastic shampoo bottle with smooth surface>, then set down.",
+    "Take the medium-sized plastic blue cup, keep its path away from the white shampoo bottle with golden top, and place the medium-sized plastic blue cup on the small coaster with grain texture.",
+    "Pick up the light blue plastic cup, route it away from the hand-held shampoo bottle, then set the light blue plastic cup on the flat surface gray wooden coaster.",
+    "Using an arm, grasp the rounded base blue cup, skirt the white bottle with golden accents, and place the rounded base blue cup atop the flat round wooden coaster.",
+    "Lift the cylindrical light blue cup, steer away from <the hand-held shampoo bottle>, then place the cylindrical light blue cup on <the flat round wooden coaster>.",
+    "Secure the medium blue cylindrical cup, move it around the white bottle with golden accents, and place the medium blue cylindrical cup squarely on the round coaster with light streaks.",
+    "Using an arm, move the light blue plastic cup to <the coaster with circular shape> while avoiding <the medium shampoo container>, then release the light blue plastic cup.",
+    "Use the arm to carry the cup with light blue color around the white bottle with golden accents, then rest the cup with light blue color on the small coaster with grain texture.",
+    "Take the blue rounded-bottom cup, keep its path away from the white bottle with golden accents, and drop the blue rounded-bottom cup on the small coaster with grain texture.",
+    "Grab the cup with light blue color, route around the hand-held shampoo bottle, then lower the cup with light blue color onto the small coaster with grain texture.",
+    "Lift the light blue plastic cup, carry it around the white shampoo bottle, and place the light blue plastic cup squarely on the light gray round grainy coaster.",
+    "Lift the cup with light blue color, go around the bottle for shampoo with glossy finish, and position the cup with light blue color squarely on the smooth round palm-sized coaster."
+  ],
+  "unseen": [
+    "Pick up the small smooth cup, keep clear of the medium-sized shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the white plastic shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the white plastic shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the white plastic shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the white plastic shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, route it around <the white plastic shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with rounded yellow cap, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the medium-sized shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the white plastic shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the white plastic shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white plastic shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the medium-sized shampoo bottle, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the medium-sized shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo bottle with rounded yellow cap>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with rounded yellow cap, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with rounded yellow cap>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the medium-sized shampoo bottle, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white plastic shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the medium-sized shampoo bottle>, and set the small smooth cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the medium-sized shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the medium-sized shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the medium-sized shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the medium-sized shampoo bottle, and place it on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, route it around <the medium-sized shampoo bottle>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white plastic shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white plastic shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the medium-sized shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the white plastic shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white plastic shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the white plastic shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the white plastic shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, carry it around the shampoo bottle with rounded yellow cap, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the white plastic shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the medium-sized shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the medium-sized shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the medium-sized shampoo bottle>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with rounded yellow cap, and place the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the white plastic shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the medium-sized shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, steer it around the medium-sized shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the medium-sized shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the white plastic shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the medium-sized shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the medium-sized shampoo bottle, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the medium-sized shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the shampoo bottle with rounded yellow cap>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white plastic shampoo bottle, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the medium-sized shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the white plastic shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the medium-sized shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the medium-sized shampoo bottle, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the medium-sized shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the white plastic shampoo bottle, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the white plastic shampoo bottle>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with rounded yellow cap, and place the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the medium-sized shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with rounded yellow cap>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the medium-sized shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the white plastic shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the white plastic shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the medium-sized shampoo bottle, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the medium-sized shampoo bottle, and set it on the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode51.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode51.json
new file mode 100644
index 0000000000000000000000000000000000000000..e02ae8f9c2c43e69c71dcae5a414f6c40e4b014f
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode51.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Carry the cylindrical light blue cup toward <the small coaster with grain texture>, keeping clear of <the rectangular pink shampoo container>, and set the cylindrical light blue cup down.",
+    "Lift the smooth blue cup for liquids, guide it around <the smooth pink plastic shampoo bottle>, then put the smooth blue cup for liquids onto <the wooden coaster>.",
+    "Move the blue rounded-bottom cup onto the flat round wooden coaster while avoiding the rectangular pink bottle with dispenser, then let go of the blue rounded-bottom cup.",
+    "Grab the medium-sized plastic blue cup, guide it away from the shampoo bottle with rectangular shape, and set the medium-sized plastic blue cup neatly on the coaster made of smooth wood.",
+    "Move the medium blue cylindrical cup to the light gray streaked wooden coaster while avoiding the smooth pink plastic shampoo bottle, then place the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Using an arm, carry the rounded base blue cup past <the rectangular pink bottle with dispenser> and place the rounded base blue cup squarely on <the flat surface gray wooden coaster>.",
+    "Take the smooth blue cup for liquids, keep its path away from the pink shampoo container with pump top, and drop the smooth blue cup for liquids on the light gray round grainy coaster.",
+    "Use an arm to bring the medium-sized plastic blue cup to the wooden coaster, keeping the medium-sized plastic blue cup clear of the hand-sized pink shampoo container.",
+    "Lift the medium-sized plastic blue cup, pass by the plastic shampoo bottle with black pump without contact, then place the medium-sized plastic blue cup on the light gray streaked wooden coaster.",
+    "Move the smooth blue cup for liquids toward the small coaster with grain texture without passing near the pink bottle with black dispenser, then set it down.",
+    "Pick up the medium blue cylindrical cup, keep clear of <the pink shampoo bottle>, and drop the medium blue cylindrical cup onto <the flat round wooden coaster>.",
+    "Secure the medium blue cylindrical cup, keep its path away from the pink bottle with narrow top, and set the medium blue cylindrical cup on the round coaster.",
+    "Pick up the cup with smooth plastic surface, keep its path away from <the shampoo bottle with shiny pink body>, and set the cup with smooth plastic surface on <the small coaster with grain texture>.",
+    "Take the light blue plastic cup, guide it away from <the shampoo bottle with rectangular shape>, and place the light blue plastic cup squarely on <the grainy texture coaster>.",
+    "Lift the rounded base blue cup, arc around the smooth pink plastic shampoo bottle, and place the rounded base blue cup squarely on the round coaster.",
+    "Use an arm to grab the blue rounded-bottom cup, avoid the smooth pink plastic shampoo bottle, and set the blue rounded-bottom cup down on the grainy texture coaster.",
+    "Carry the cup for holding liquids toward <the round coaster with light streaks>, skirting <the rectangular pink shampoo container>, and set the cup for holding liquids down.",
+    "Use an arm: pick the rounded base blue cup up, skirt <the hand-sized pink shampoo container>, then place the rounded base blue cup onto <the smooth round palm-sized coaster>.",
+    "With an arm, bring the smooth blue cup for liquids over to <the round coaster> and keep clear of <the hand-sized pink shampoo container>.",
+    "Use an arm to move the smooth blue cup for liquids toward the round coaster, keeping the smooth blue cup for liquids clear of the shampoo bottle with shiny pink body.",
+    "Use an arm: grab the rounded base blue cup, avoid the rectangular pink bottle with dispenser on the way, then set the rounded base blue cup on the wooden coaster.",
+    "Pick up the plastic cup for drinks, guide it past the medium pink bottle for shampoo, and drop the plastic cup for drinks on the smooth round palm-sized coaster.",
+    "With an arm, lift the rounded base blue cup, keep it away from the pink bottle with black dispenser, and drop it onto the wooden coaster.",
+    "Use an arm to take the cup for holding liquids around <the shampoo bottle with rectangular shape> and place the cup for holding liquids on <the light gray round grainy coaster>.",
+    "Lift the smooth blue cup for liquids, guide it past the pink bottle with narrow top, and rest the smooth blue cup for liquids on the wooden coaster.",
+    "Lift the rounded base blue cup, route it away from the smooth pink plastic shampoo bottle, then put the rounded base blue cup squarely on the small coaster with grain texture.",
+    "Secure the blue rounded-bottom cup, move it around the pink bottle with black dispenser, and place the blue rounded-bottom cup squarely on the wooden coaster.",
+    "Pick up the cup for holding liquids, route it away from the shampoo bottle with shiny pink body, then set the cup for holding liquids on the small coaster with grain texture.",
+    "Take the cup with light blue color, arc around <the rectangular pink shampoo container>, and place the cup with light blue color neatly on <the small coaster with grain texture>.",
+    "With an arm, pick the light blue plastic cup up, bypass <the rectangular pink shampoo container>, then place the light blue plastic cup on <the smooth round palm-sized coaster>.",
+    "Use an arm, pick the medium-sized plastic blue cup up, pass around the pink bottle with black dispenser, then place the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "With an arm, lift the rounded base blue cup, route past <the medium pink bottle for shampoo>, and drop the rounded base blue cup onto <the wooden coaster>.",
+    "Grab the rounded base blue cup, swing it away from <the rectangular pink shampoo container>, and place the rounded base blue cup on <the grainy texture coaster>.",
+    "Slide the cup for holding liquids over to <the flat round wooden coaster> without passing near <the rectangular pink bottle with dispenser>.",
+    "Use an arm, take the cup with light blue color, avoid <the hand-sized pink shampoo container> on the way, and set on <the grainy texture coaster>.",
+    "With an arm, take the cup with smooth plastic surface, avoid the pink shampoo container with pump top, and put the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Pick the cup with smooth plastic surface up, route it away from the rectangular pink bottle with dispenser, and drop the cup with smooth plastic surface onto the wooden coaster.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the smooth pink plastic shampoo bottle, and place the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Take the cup for holding liquids to the flat round wooden coaster while skirting the rectangular pink shampoo container, then release the cup for holding liquids on the flat round wooden coaster.",
+    "Grab the light blue plastic cup, route around the shampoo bottle with rectangular shape, then lower the light blue plastic cup onto the coaster with circular shape.",
+    "Use an arm: take the light blue plastic cup, avoid the pink shampoo bottle during the move, and drop it on the round coaster with light streaks.",
+    "Move the cup for holding liquids onto the light gray streaked wooden coaster while avoiding the hand-sized pink shampoo container, then let go of the cup for holding liquids.",
+    "Use an arm to move the smooth blue cup for liquids around the pink shampoo container with pump top and rest the smooth blue cup for liquids on the light gray streaked wooden coaster.",
+    "With an arm, lift the smooth blue drinking cup, avoid the pink bottle with black dispenser, and set the smooth blue drinking cup onto the grainy texture coaster.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the medium pink bottle for shampoo, and place the cup with smooth plastic surface on the coaster with circular shape.",
+    "Move the rounded base blue cup to the wooden coaster without crossing the pink bottle with black dispenser, then release the rounded base blue cup.",
+    "Use an arm, take the smooth blue cup for liquids past the shampoo bottle with shiny pink body without nearing it, and rest the smooth blue cup for liquids on the round coaster.",
+    "Carry the medium-sized plastic blue cup toward the round coaster with light streaks, keeping the medium-sized plastic blue cup away from the pink bottle with black dispenser, then set down.",
+    "Lift the medium-sized plastic blue cup, pass beside <the rectangular pink bottle with dispenser> without contact, then place the medium-sized plastic blue cup onto <the flat surface gray wooden coaster>.",
+    "Using an arm, pick the medium blue cylindrical cup up, skirt the pink shampoo container with pump top, and place the medium blue cylindrical cup on the coaster with circular shape.",
+    "Use the arm to lift the light blue plastic cup, pass the rectangular pink shampoo container, and place the light blue plastic cup on the small coaster with grain texture.",
+    "Lift the smooth blue cup for liquids, go around the rectangular pink shampoo container, and position the smooth blue cup for liquids squarely on the coaster with circular shape.",
+    "Lift the cylindrical light blue cup, keep clear of the shampoo bottle with shiny pink body, and put the cylindrical light blue cup down on the light gray streaked wooden coaster.",
+    "Use an arm to lift the light blue plastic cup, keep distance from <the pink bottle with narrow top>, and set the light blue plastic cup on <the flat round wooden coaster>.",
+    "Pick up the rounded base blue cup, avoid the medium pink bottle for shampoo along the way, and place the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Using an arm, grasp the smooth blue cup for liquids, skirt the rectangular pink shampoo container, and place the smooth blue cup for liquids atop the round coaster.",
+    "Use an arm to lift the rounded base blue cup, arc around the plastic shampoo bottle with black pump, and place the rounded base blue cup atop the flat round wooden coaster.",
+    "Using an arm, carry the medium-sized plastic blue cup around the rectangular pink shampoo container and place the medium-sized plastic blue cup onto the grainy texture coaster.",
+    "Carry the cup for holding liquids toward <the grainy texture coaster>, keeping the path clear of <the smooth pink plastic shampoo bottle>, then set down.",
+    "With an arm, move the plastic cup for drinks past the medium pink bottle for shampoo and place the plastic cup for drinks on the light gray round grainy coaster.",
+    "Take the medium-sized plastic blue cup, keep its path away from the smooth pink plastic shampoo bottle, and place the medium-sized plastic blue cup on the light gray streaked wooden coaster.",
+    "Lift the medium-sized plastic blue cup, carry it around the medium pink bottle for shampoo, and place the medium-sized plastic blue cup squarely on the flat surface gray wooden coaster.",
+    "Lift the cup with smooth plastic surface, steer away from <the shampoo bottle with shiny pink body>, then place the cup with smooth plastic surface on <the grainy texture coaster>.",
+    "Use an arm: grasp the smooth blue cup for liquids, avoid <the rectangular pink shampoo container>, and place the smooth blue cup for liquids on <the small coaster with grain texture>.",
+    "Take the cup with light blue color, swing wide of the shampoo bottle with shiny pink body, then rest the cup with light blue color on the coaster with circular shape.",
+    "Move the blue rounded-bottom cup to <the coaster made of smooth wood> while keeping the blue rounded-bottom cup away from <the plastic shampoo bottle with black pump>, then release.",
+    "Guide the cylindrical light blue cup with the arm around <the plastic shampoo bottle with black pump> and onto <the flat round wooden coaster>.",
+    "Use the arm to move the cylindrical light blue cup past <the medium pink bottle for shampoo> and rest it on <the wooden coaster>.",
+    "Use the arm to carry the rounded base blue cup around the pink shampoo container with pump top, then rest the rounded base blue cup on the coaster with circular shape.",
+    "Use an arm to move the smooth blue drinking cup to the grainy texture coaster, keeping the smooth blue drinking cup from bumping the rectangular pink shampoo container.",
+    "Arm-lift the rounded base blue cup, swing around <the medium pink bottle for shampoo>, then place the rounded base blue cup onto <the round coaster>.",
+    "Take the medium blue cylindrical cup in the arm, route around <the rectangular pink bottle with dispenser>, and set it on <the small coaster with grain texture>.",
+    "Move the smooth blue cup for liquids to <the flat surface gray wooden coaster> while keeping its path away from <the rectangular pink shampoo container>.",
+    "Using an arm, move the cylindrical light blue cup to <the round coaster with light streaks> while avoiding <the pink bottle with black dispenser>, then release the cylindrical light blue cup.",
+    "Use an arm, keep the cylindrical light blue cup from the pink bottle with black dispenser, and lower the cylindrical light blue cup onto the smooth round palm-sized coaster.",
+    "With an arm, lift the rounded base blue cup, avoid <the shampoo bottle with rectangular shape> on the way, and drop the rounded base blue cup on <the small coaster with grain texture>.",
+    "Move the smooth blue drinking cup onto <the coaster made of smooth wood> and ensure the path stays away from <the pink shampoo container with pump top>.",
+    "Take the blue rounded-bottom cup, route it away from the medium pink bottle for shampoo, and set the blue rounded-bottom cup onto the small coaster with grain texture.",
+    "With an arm, lift the smooth blue drinking cup, guide it past the rectangular pink shampoo container, and put the smooth blue drinking cup on the round coaster.",
+    "Slide the smooth blue drinking cup toward the coaster with circular shape, detouring around the plastic shampoo bottle with black pump, then set the smooth blue drinking cup down.",
+    "Carry the light blue plastic cup toward <the round coaster with light streaks>, keeping clear of <the pink bottle with narrow top>, and set the light blue plastic cup down.",
+    "Lift the plastic cup for drinks, guide it around <the smooth pink plastic shampoo bottle>, then put the plastic cup for drinks onto <the light gray streaked wooden coaster>.",
+    "Move the rounded base blue cup onto the round coaster while avoiding the shampoo bottle with rectangular shape, then let go of the rounded base blue cup.",
+    "Grab the smooth blue cup for liquids, guide it away from the pink shampoo bottle, and set the smooth blue cup for liquids neatly on the coaster with circular shape.",
+    "Move the medium blue cylindrical cup to the light gray round grainy coaster while avoiding the plastic shampoo bottle with black pump, then place the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Using an arm, carry the cylindrical light blue cup past <the smooth pink plastic shampoo bottle> and place the cylindrical light blue cup squarely on <the coaster made of smooth wood>.",
+    "Take the smooth blue cup for liquids, keep its path away from the plastic shampoo bottle with black pump, and drop the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Use an arm to bring the cup with smooth plastic surface to the wooden coaster, keeping the cup with smooth plastic surface clear of the rectangular pink shampoo container.",
+    "Lift the plastic cup for drinks, pass by the plastic shampoo bottle with black pump without contact, then place the plastic cup for drinks on the light gray round grainy coaster.",
+    "Move the cup with smooth plastic surface toward the smooth round palm-sized coaster without passing near the hand-sized pink shampoo container, then set it down.",
+    "Pick up the cup with smooth plastic surface, keep clear of <the rectangular pink shampoo container>, and drop the cup with smooth plastic surface onto <the wooden coaster>.",
+    "Secure the plastic cup for drinks, keep its path away from the pink bottle with black dispenser, and set the plastic cup for drinks on the small coaster with grain texture.",
+    "Pick up the rounded base blue cup, keep its path away from <the rectangular pink bottle with dispenser>, and set the rounded base blue cup on <the smooth round palm-sized coaster>.",
+    "Take the rounded base blue cup, guide it away from <the rectangular pink bottle with dispenser>, and place the rounded base blue cup squarely on <the flat surface gray wooden coaster>.",
+    "Lift the smooth blue drinking cup, arc around the pink bottle with black dispenser, and place the smooth blue drinking cup squarely on the round coaster.",
+    "Use an arm to grab the smooth blue cup for liquids, avoid the rectangular pink shampoo container, and set the smooth blue cup for liquids down on the grainy texture coaster.",
+    "Carry the blue rounded-bottom cup toward <the light gray round grainy coaster>, skirting <the medium pink bottle for shampoo>, and set the blue rounded-bottom cup down.",
+    "Use an arm: pick the medium blue cylindrical cup up, skirt <the shampoo bottle with shiny pink body>, then place the medium blue cylindrical cup onto <the smooth round palm-sized coaster>.",
+    "With an arm, bring the cup for holding liquids over to <the wooden coaster> and keep clear of <the rectangular pink shampoo container>.",
+    "Use an arm to move the cup with light blue color toward the smooth round palm-sized coaster, keeping the cup with light blue color clear of the rectangular pink bottle with dispenser."
+  ],
+  "unseen": [
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with black pump>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the glossy pink shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the plastic pink shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with black pump, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle with black pump>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the plastic pink shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the glossy pink shampoo bottle, and set it on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with black pump, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the plastic pink shampoo bottle, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with black pump>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the glossy pink shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the plastic pink shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with black pump, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with black pump, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with black pump>, then set the handheld round blue cup on <the light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with black pump>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, route it around <the plastic pink shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with black pump, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with black pump>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with black pump>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the glossy pink shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the glossy pink shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the plastic pink shampoo bottle, then set the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, carry it around the glossy pink shampoo bottle, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with black pump>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the glossy pink shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the glossy pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the glossy pink shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with black pump, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the plastic pink shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the glossy pink shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the glossy pink shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the plastic pink shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the glossy pink shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the glossy pink shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the glossy pink shampoo bottle, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the plastic pink shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, carry it around the glossy pink shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with black pump>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the glossy pink shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the plastic pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with black pump, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the glossy pink shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with black pump>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with black pump>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the plastic pink shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the plastic pink shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the plastic pink shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the glossy pink shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle with black pump, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the glossy pink shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the plastic pink shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the glossy pink shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the plastic pink shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with black pump, and place it on the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the glossy pink shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the plastic pink shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with black pump>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with black pump>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the plastic pink shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the glossy pink shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the glossy pink shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with black pump>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the plastic pink shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle with black pump, and set it on the light gray coaster.",
+    "Grab the blue cup, steer it around the glossy pink shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the shampoo bottle with black pump, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the glossy pink shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with black pump, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the plastic pink shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the glossy pink shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the plastic pink shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the plastic pink shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with black pump, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the plastic pink shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the glossy pink shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle with black pump>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the glossy pink shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the plastic pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the plastic pink shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with black pump, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with black pump>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with black pump, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the plastic pink shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with black pump, and place the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the plastic pink shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with black pump>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with black pump>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the plastic pink shampoo bottle>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the glossy pink shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the glossy pink shampoo bottle>, and place the handheld round blue cup on <the disc-shaped light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode52.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode52.json
new file mode 100644
index 0000000000000000000000000000000000000000..02fe0f992a52463424c9fccc5d374720e74e48d2
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode52.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the cup with smooth plastic surface, keep its path away from <the shampoo bottle with shiny pink body>, and set the cup with smooth plastic surface on <the flat round wooden coaster>.",
+    "Secure the medium blue cylindrical cup, move it around the rectangular pink shampoo container, and place the medium blue cylindrical cup squarely on the flat round wooden coaster.",
+    "Move the cylindrical light blue cup to the flat surface gray wooden coaster while avoiding the pink shampoo bottle, then place the cylindrical light blue cup on the flat surface gray wooden coaster.",
+    "Slide the plastic cup for drinks toward the round coaster with light streaks, detouring around the rectangular pink shampoo container, then set the plastic cup for drinks down.",
+    "Using an arm, carry the cup for holding liquids around the pink shampoo container with pump top and place the cup for holding liquids onto the wooden coaster.",
+    "Use an arm to move the plastic cup for drinks toward the flat round wooden coaster, keeping the plastic cup for drinks clear of the plastic shampoo bottle with black pump.",
+    "Pick up the cup with smooth plastic surface, guide it past the shampoo bottle with shiny pink body, and drop the cup with smooth plastic surface on the coaster with circular shape.",
+    "Lift the rounded base blue cup, steer away from <the rectangular pink bottle with dispenser>, then place the rounded base blue cup on <the grainy texture coaster>.",
+    "Using an arm, move the light blue plastic cup to <the wooden coaster> while avoiding <the rectangular pink shampoo container>, then release the light blue plastic cup.",
+    "Use an arm: grasp the cup with smooth plastic surface, avoid <the plastic shampoo bottle with black pump>, and place the cup with smooth plastic surface on <the flat surface gray wooden coaster>.",
+    "Use an arm to bring the cylindrical light blue cup to the round coaster, keeping the cylindrical light blue cup clear of the shampoo bottle with shiny pink body.",
+    "Take the cup for holding liquids, route it away from the pink shampoo bottle, and set the cup for holding liquids onto the light gray streaked wooden coaster.",
+    "Use an arm: pick the light blue plastic cup up, skirt <the pink bottle with black dispenser>, then place the light blue plastic cup onto <the round coaster with light streaks>.",
+    "Pick up the smooth blue cup for liquids, route it away from the pink bottle with black dispenser, then set the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Pick up the blue rounded-bottom cup, avoid the pink shampoo bottle along the way, and place the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Use an arm to move the cup for holding liquids around the hand-sized pink shampoo container and rest the cup for holding liquids on the wooden coaster.",
+    "Lift the light blue plastic cup, route it away from the pink bottle with black dispenser, then put the light blue plastic cup squarely on the smooth round palm-sized coaster.",
+    "Arm-lift the medium blue cylindrical cup, swing around <the shampoo bottle with rectangular shape>, then place the medium blue cylindrical cup onto <the flat round wooden coaster>.",
+    "Lift the medium-sized plastic blue cup, guide it around <the shampoo bottle with rectangular shape>, then put the medium-sized plastic blue cup onto <the grainy texture coaster>.",
+    "Take the cylindrical light blue cup, arc around <the pink bottle with narrow top>, and place the cylindrical light blue cup neatly on <the smooth round palm-sized coaster>.",
+    "Use an arm, take the smooth blue cup for liquids past the pink bottle with narrow top without nearing it, and rest the smooth blue cup for liquids on the round coaster.",
+    "Use an arm to move the cup with smooth plastic surface to the light gray round grainy coaster, keeping the cup with smooth plastic surface from bumping the smooth pink plastic shampoo bottle.",
+    "Use the arm to lift the medium blue cylindrical cup, pass the pink bottle with black dispenser, and place the medium blue cylindrical cup on the coaster made of smooth wood.",
+    "Take the cup with light blue color, swing wide of the shampoo bottle with rectangular shape, then rest the cup with light blue color on the flat surface gray wooden coaster.",
+    "Use an arm to lift the cylindrical light blue cup, keep distance from <the pink shampoo container with pump top>, and set the cylindrical light blue cup on <the coaster with circular shape>.",
+    "With an arm, pick the plastic cup for drinks up, bypass <the rectangular pink bottle with dispenser>, then place the plastic cup for drinks on <the round coaster with light streaks>.",
+    "Grab the medium blue cylindrical cup, guide it away from the pink shampoo container with pump top, and set the medium blue cylindrical cup neatly on the flat surface gray wooden coaster.",
+    "With an arm, lift the cylindrical light blue cup, avoid the pink bottle with narrow top, and set the cylindrical light blue cup onto the flat round wooden coaster.",
+    "Take the cup with light blue color, keep its path away from the pink bottle with narrow top, and drop the cup with light blue color on the coaster with circular shape.",
+    "Lift the cup with light blue color, pass beside <the hand-sized pink shampoo container> without contact, then place the cup with light blue color onto <the coaster made of smooth wood>.",
+    "With an arm, move the plastic cup for drinks past the rectangular pink shampoo container and place the plastic cup for drinks on the coaster made of smooth wood.",
+    "Using an arm, carry the light blue plastic cup past <the pink shampoo bottle> and place the light blue plastic cup squarely on <the round coaster with light streaks>.",
+    "Move the rounded base blue cup to the light gray round grainy coaster without crossing the pink shampoo container with pump top, then release the rounded base blue cup.",
+    "Use an arm, keep the medium blue cylindrical cup from the pink shampoo container with pump top, and lower the medium blue cylindrical cup onto the light gray round grainy coaster.",
+    "Use an arm: grab the light blue plastic cup, avoid the rectangular pink shampoo container on the way, then set the light blue plastic cup on the grainy texture coaster.",
+    "Move the light blue plastic cup onto the smooth round palm-sized coaster while avoiding the pink shampoo container with pump top, then let go of the light blue plastic cup.",
+    "Use an arm to take the smooth blue cup for liquids around <the plastic shampoo bottle with black pump> and place the smooth blue cup for liquids on <the flat surface gray wooden coaster>.",
+    "Use an arm, pick the plastic cup for drinks up, pass around the pink bottle with narrow top, then place the plastic cup for drinks on the wooden coaster.",
+    "Grab the rounded base blue cup, swing it away from <the smooth pink plastic shampoo bottle>, and place the rounded base blue cup on <the round coaster>.",
+    "Use an arm: take the cup with smooth plastic surface, avoid the medium pink bottle for shampoo during the move, and drop it on the small coaster with grain texture.",
+    "Lift the rounded base blue cup, carry it around the pink bottle with black dispenser, and place the rounded base blue cup squarely on the small coaster with grain texture.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the rectangular pink shampoo container, and place the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Lift the medium blue cylindrical cup, go around the hand-sized pink shampoo container, and position the medium blue cylindrical cup squarely on the light gray streaked wooden coaster.",
+    "With an arm, lift the rounded base blue cup, avoid <the hand-sized pink shampoo container> on the way, and drop the rounded base blue cup on <the light gray round grainy coaster>.",
+    "With an arm, lift the smooth blue cup for liquids, route past <the pink bottle with narrow top>, and drop the smooth blue cup for liquids onto <the flat round wooden coaster>.",
+    "With an arm, bring the cylindrical light blue cup over to <the flat round wooden coaster> and keep clear of <the shampoo bottle with rectangular shape>.",
+    "Carry the light blue plastic cup toward <the round coaster>, skirting <the rectangular pink bottle with dispenser>, and set the light blue plastic cup down.",
+    "Use an arm to lift the rounded base blue cup, arc around the medium pink bottle for shampoo, and place the rounded base blue cup atop the grainy texture coaster.",
+    "With an arm, lift the blue rounded-bottom cup, keep it away from the shampoo bottle with rectangular shape, and drop it onto the grainy texture coaster.",
+    "Secure the medium-sized plastic blue cup, keep its path away from the rectangular pink bottle with dispenser, and set the medium-sized plastic blue cup on the wooden coaster.",
+    "Using an arm, pick the smooth blue drinking cup up, skirt the pink shampoo bottle, and place the smooth blue drinking cup on the round coaster with light streaks.",
+    "Carry the smooth blue drinking cup toward the light gray round grainy coaster, keeping the smooth blue drinking cup away from the hand-sized pink shampoo container, then set down.",
+    "Move the cup with light blue color to <the light gray round grainy coaster> while keeping its path away from <the shampoo bottle with rectangular shape>.",
+    "Move the medium-sized plastic blue cup toward the round coaster with light streaks without passing near the smooth pink plastic shampoo bottle, then set it down.",
+    "Move the light blue plastic cup onto <the flat round wooden coaster> and ensure the path stays away from <the pink shampoo container with pump top>.",
+    "Using an arm, grasp the light blue plastic cup, skirt the smooth pink plastic shampoo bottle, and place the light blue plastic cup atop the wooden coaster.",
+    "Lift the cup for holding liquids, guide it past the shampoo bottle with shiny pink body, and rest the cup for holding liquids on the flat round wooden coaster.",
+    "Carry the smooth blue drinking cup toward <the coaster with circular shape>, keeping clear of <the pink shampoo container with pump top>, and set the smooth blue drinking cup down.",
+    "With an arm, take the smooth blue drinking cup, avoid the shampoo bottle with shiny pink body, and put the smooth blue drinking cup on the flat round wooden coaster.",
+    "Grab the rounded base blue cup, route around the hand-sized pink shampoo container, then lower the rounded base blue cup onto the smooth round palm-sized coaster.",
+    "Use the arm to carry the smooth blue cup for liquids around the pink bottle with narrow top, then rest the smooth blue cup for liquids on the wooden coaster.",
+    "Pick up the medium-sized plastic blue cup, keep clear of <the plastic shampoo bottle with black pump>, and drop the medium-sized plastic blue cup onto <the coaster with circular shape>.",
+    "Lift the cup with light blue color, pass by the pink bottle with narrow top without contact, then place the cup with light blue color on the coaster made of smooth wood.",
+    "Lift the smooth blue drinking cup, arc around the plastic shampoo bottle with black pump, and place the smooth blue drinking cup squarely on the light gray streaked wooden coaster.",
+    "Use the arm to move the rounded base blue cup past <the hand-sized pink shampoo container> and rest it on <the light gray round grainy coaster>.",
+    "Move the medium-sized plastic blue cup to <the coaster made of smooth wood> while keeping the medium-sized plastic blue cup away from <the pink bottle with black dispenser>, then release.",
+    "Carry the cup with light blue color toward <the wooden coaster>, keeping the path clear of <the rectangular pink shampoo container>, then set down.",
+    "Use an arm to grab the blue rounded-bottom cup, avoid the pink bottle with narrow top, and set the blue rounded-bottom cup down on the smooth round palm-sized coaster.",
+    "Guide the rounded base blue cup with the arm around <the medium pink bottle for shampoo> and onto <the light gray round grainy coaster>.",
+    "Take the light blue plastic cup, guide it away from <the pink shampoo bottle>, and place the light blue plastic cup squarely on <the light gray streaked wooden coaster>.",
+    "Move the medium blue cylindrical cup onto the round coaster while avoiding the hand-sized pink shampoo container, then let go of the medium blue cylindrical cup.",
+    "Slide the cup with smooth plastic surface over to <the light gray streaked wooden coaster> without passing near <the rectangular pink bottle with dispenser>.",
+    "With an arm, lift the light blue plastic cup, avoid the pink shampoo bottle, and place the light blue plastic cup on the light gray streaked wooden coaster.",
+    "Pick the cup for holding liquids up, route it away from the shampoo bottle with rectangular shape, and drop the cup for holding liquids onto the round coaster.",
+    "Use an arm, take the medium-sized plastic blue cup, avoid <the pink shampoo container with pump top> on the way, and set on <the smooth round palm-sized coaster>.",
+    "Take the cup with smooth plastic surface in the arm, route around <the shampoo bottle with shiny pink body>, and set it on <the coaster made of smooth wood>.",
+    "Take the plastic cup for drinks, keep its path away from the pink bottle with narrow top, and place the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "With an arm, lift the blue rounded-bottom cup, guide it past the pink bottle with black dispenser, and put the blue rounded-bottom cup on the grainy texture coaster.",
+    "Take the medium-sized plastic blue cup to the smooth round palm-sized coaster while skirting the smooth pink plastic shampoo bottle, then release the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "Lift the cup for holding liquids, keep clear of the shampoo bottle with shiny pink body, and put the cup for holding liquids down on the light gray streaked wooden coaster.",
+    "Pick up the medium-sized plastic blue cup, keep its path away from <the medium pink bottle for shampoo>, and set the medium-sized plastic blue cup on <the round coaster with light streaks>.",
+    "Secure the cup with light blue color, move it around the shampoo bottle with rectangular shape, and place the cup with light blue color squarely on the round coaster.",
+    "Move the cup with smooth plastic surface to the smooth round palm-sized coaster while avoiding the pink shampoo bottle, then place the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Slide the medium blue cylindrical cup toward the flat surface gray wooden coaster, detouring around the hand-sized pink shampoo container, then set the medium blue cylindrical cup down.",
+    "Using an arm, carry the cup with smooth plastic surface around the shampoo bottle with rectangular shape and place the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Use an arm to move the plastic cup for drinks toward the flat surface gray wooden coaster, keeping the plastic cup for drinks clear of the pink shampoo container with pump top.",
+    "Pick up the cup for holding liquids, guide it past the pink shampoo container with pump top, and drop the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Lift the rounded base blue cup, steer away from <the plastic shampoo bottle with black pump>, then place the rounded base blue cup on <the small coaster with grain texture>.",
+    "Using an arm, move the cup for holding liquids to <the flat surface gray wooden coaster> while avoiding <the shampoo bottle with shiny pink body>, then release the cup for holding liquids.",
+    "Use an arm: grasp the blue rounded-bottom cup, avoid <the hand-sized pink shampoo container>, and place the blue rounded-bottom cup on <the round coaster>.",
+    "Use an arm to bring the medium blue cylindrical cup to the smooth round palm-sized coaster, keeping the medium blue cylindrical cup clear of the smooth pink plastic shampoo bottle.",
+    "Take the cup for holding liquids, route it away from the smooth pink plastic shampoo bottle, and set the cup for holding liquids onto the smooth round palm-sized coaster.",
+    "Use an arm: pick the light blue plastic cup up, skirt <the rectangular pink shampoo container>, then place the light blue plastic cup onto <the light gray streaked wooden coaster>.",
+    "Pick up the rounded base blue cup, route it away from the rectangular pink bottle with dispenser, then set the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Pick up the plastic cup for drinks, avoid the hand-sized pink shampoo container along the way, and place the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Use an arm to move the cylindrical light blue cup around the hand-sized pink shampoo container and rest the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Lift the plastic cup for drinks, route it away from the shampoo bottle with shiny pink body, then put the plastic cup for drinks squarely on the round coaster with light streaks.",
+    "Arm-lift the cup for holding liquids, swing around <the plastic shampoo bottle with black pump>, then place the cup for holding liquids onto <the coaster made of smooth wood>.",
+    "Lift the cup for holding liquids, guide it around <the medium pink bottle for shampoo>, then put the cup for holding liquids onto <the flat surface gray wooden coaster>.",
+    "Take the plastic cup for drinks, arc around <the pink bottle with black dispenser>, and place the plastic cup for drinks neatly on <the round coaster>."
+  ],
+  "unseen": [
+    "Grab the small smooth cup, carry it around the shampoo bottle with black pump, then set the small smooth cup down on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with black pump, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the glossy pink shampoo bottle>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, guide it around <the plastic pink shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with black pump, and place it on the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the plastic pink shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the glossy pink shampoo bottle, and place the small smooth cup on the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the plastic pink shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the glossy pink shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with black pump>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the plastic pink shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the plastic pink shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the plastic pink shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with black pump, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the plastic pink shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the plastic pink shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the plastic pink shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with black pump, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the glossy pink shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the plastic pink shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with black pump, and place it on the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with black pump>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the glossy pink shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the glossy pink shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the plastic pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with black pump>, and place the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the plastic pink shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the plastic pink shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with black pump, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the plastic pink shampoo bottle>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo bottle with black pump, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the plastic pink shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the glossy pink shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, guide it around <the plastic pink shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with black pump, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the glossy pink shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the plastic pink shampoo bottle, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the plastic pink shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the plastic pink shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the glossy pink shampoo bottle>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with black pump, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the glossy pink shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the glossy pink shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the glossy pink shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the glossy pink shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the glossy pink shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the blue cup, route it around <the plastic pink shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, guide it around <the plastic pink shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the plastic pink shampoo bottle, and place it on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with black pump>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the plastic pink shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the plastic pink shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the plastic pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the plastic pink shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with black pump, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the glossy pink shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the glossy pink shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the glossy pink shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with black pump>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the glossy pink shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with black pump, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the plastic pink shampoo bottle>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with black pump>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the glossy pink shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with black pump>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the glossy pink shampoo bottle, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the plastic pink shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the glossy pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the plastic pink shampoo bottle>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with black pump, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with black pump, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the glossy pink shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle with black pump, then set the blue cup onto the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with black pump>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the shampoo bottle with black pump, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the glossy pink shampoo bottle>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the glossy pink shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the glossy pink shampoo bottle, and place it on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the glossy pink shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the glossy pink shampoo bottle, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the plastic pink shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the glossy pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the glossy pink shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with black pump, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with black pump, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the plastic pink shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with black pump, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the plastic pink shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the plastic pink shampoo bottle, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the glossy pink shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the plastic pink shampoo bottle>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the glossy pink shampoo bottle>, and place it on <the disc-shaped light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode53.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode53.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2bf12840aa9ae6a662d9f6165460b832e055d6d
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode53.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Carry the cup for holding liquids toward the flat surface gray wooden coaster, keeping the cup for holding liquids away from the hand-sized shampoo bottle, then set down.",
+    "Use an arm to lift the cup with light blue color, keep distance from <the white body pink flip cap bottle>, and set the cup with light blue color on <the coaster with circular shape>.",
+    "With an arm, lift the blue rounded-bottom cup, keep it away from the oval-shaped shampoo bottle, and drop it onto the grainy texture coaster.",
+    "Use the arm to carry the cylindrical light blue cup around the shampoo bottle with pink cap, then rest the cylindrical light blue cup on the wooden coaster.",
+    "Use an arm to take the rounded base blue cup around <the white shampoo bottle> and place the rounded base blue cup on <the small coaster with grain texture>.",
+    "Take the rounded base blue cup, arc around <the smooth white shampoo dispenser>, and place the rounded base blue cup neatly on <the flat surface gray wooden coaster>.",
+    "Grab the plastic cup for drinks, route around the shampoo dispenser with flat base, then lower the plastic cup for drinks onto the light gray streaked wooden coaster.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the hand-sized shampoo bottle, and set the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Take the smooth blue cup for liquids, route it away from the oval-shaped shampoo bottle, and set the smooth blue cup for liquids onto the flat surface gray wooden coaster.",
+    "Pick up the cylindrical light blue cup, keep clear of <the white body pink flip cap bottle>, and drop the cylindrical light blue cup onto <the light gray streaked wooden coaster>.",
+    "Move the plastic cup for drinks onto the wooden coaster while avoiding the medium shampoo bottle, then let go of the plastic cup for drinks.",
+    "Move the cup with smooth plastic surface to the smooth round palm-sized coaster without crossing the hand-sized shampoo bottle, then release the cup with smooth plastic surface.",
+    "Guide the cylindrical light blue cup with the arm around <the plastic shampoo container> and onto <the smooth round palm-sized coaster>.",
+    "Lift the cylindrical light blue cup, guide it past the medium oval plastic shampoo container, and rest the cylindrical light blue cup on the flat surface gray wooden coaster.",
+    "With an arm, bring the medium-sized plastic blue cup over to <the light gray round grainy coaster> and keep clear of <the oval-shaped shampoo bottle>.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the smooth white shampoo dispenser, and place the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Move the cup for holding liquids to the round coaster with light streaks while avoiding the plastic shampoo container, then place the cup for holding liquids on the round coaster with light streaks.",
+    "Lift the smooth blue drinking cup, route it away from the medium shampoo bottle, then put the smooth blue drinking cup squarely on the light gray streaked wooden coaster.",
+    "Slide the blue rounded-bottom cup over to <the small coaster with grain texture> without passing near <the pink-topped shampoo bottle>.",
+    "Move the blue rounded-bottom cup to <the light gray round grainy coaster> while keeping the blue rounded-bottom cup away from <the shampoo bottle with pink cap>, then release.",
+    "Take the cup with smooth plastic surface, keep its path away from the white body pink flip cap bottle, and drop the cup with smooth plastic surface on the small coaster with grain texture.",
+    "Use an arm: take the plastic cup for drinks, avoid the shampoo bottle with pink cap during the move, and drop it on the flat surface gray wooden coaster.",
+    "Take the cup with smooth plastic surface to the light gray round grainy coaster while skirting the smooth white shampoo dispenser, then release the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Use an arm to bring the rounded base blue cup to the flat surface gray wooden coaster, keeping the rounded base blue cup clear of the plastic shampoo container.",
+    "With an arm, pick the medium blue cylindrical cup up, bypass <the plastic shampoo container>, then place the medium blue cylindrical cup on <the grainy texture coaster>.",
+    "Move the smooth blue drinking cup to <the flat surface gray wooden coaster> while keeping its path away from <the smooth white shampoo dispenser>.",
+    "Pick the medium blue cylindrical cup up, route it away from the white shampoo bottle, and drop the medium blue cylindrical cup onto the flat surface gray wooden coaster.",
+    "With an arm, lift the smooth blue drinking cup, guide it past the medium oval plastic shampoo container, and put the smooth blue drinking cup on the flat round wooden coaster.",
+    "Using an arm, pick the cup with smooth plastic surface up, skirt the shampoo bottle with pink cap, and place the cup with smooth plastic surface on the coaster with circular shape.",
+    "Pick up the light blue plastic cup, guide it past the plastic shampoo container, and drop the light blue plastic cup on the coaster with circular shape.",
+    "Using an arm, carry the cup with light blue color around the pink-topped shampoo bottle and place the cup with light blue color onto the round coaster.",
+    "Lift the smooth blue drinking cup, arc around the glossy white shampoo bottle, and place the smooth blue drinking cup squarely on the smooth round palm-sized coaster.",
+    "Use an arm, keep the blue rounded-bottom cup from the plastic shampoo container, and lower the blue rounded-bottom cup onto the flat surface gray wooden coaster.",
+    "Use an arm to move the cup for holding liquids toward the flat round wooden coaster, keeping the cup for holding liquids clear of the plastic shampoo container.",
+    "With an arm, move the cup with smooth plastic surface past the medium oval plastic shampoo container and place the cup with smooth plastic surface on the light gray streaked wooden coaster.",
+    "Use an arm to lift the rounded base blue cup, arc around the white body pink flip cap bottle, and place the rounded base blue cup atop the wooden coaster.",
+    "Pick up the smooth blue drinking cup, keep its path away from <the oval-shaped shampoo bottle>, and set the smooth blue drinking cup on <the coaster with circular shape>.",
+    "Use an arm, take the smooth blue drinking cup, avoid <the medium shampoo bottle> on the way, and set on <the grainy texture coaster>.",
+    "Use an arm: pick the blue rounded-bottom cup up, skirt <the hand-sized shampoo bottle>, then place the blue rounded-bottom cup onto <the flat surface gray wooden coaster>.",
+    "Using an arm, pick the rounded base blue cup up, skirt the hand-sized shampoo bottle, and place the rounded base blue cup on the wooden coaster.",
+    "Lift the blue rounded-bottom cup, carry it around the shampoo bottle with pink cap, and place the blue rounded-bottom cup squarely on the light gray round grainy coaster.",
+    "Carry the light blue plastic cup toward <the grainy texture coaster>, keeping the path clear of <the hand-sized shampoo bottle>, then set down.",
+    "With an arm, lift the cup with smooth plastic surface, avoid <the white body pink flip cap bottle> on the way, and drop the cup with smooth plastic surface on <the round coaster with light streaks>.",
+    "Secure the medium-sized plastic blue cup, keep its path away from the white body pink flip cap bottle, and set the medium-sized plastic blue cup on the small coaster with grain texture.",
+    "Arm-lift the cup for holding liquids, swing around <the medium shampoo bottle>, then place the cup for holding liquids onto <the round coaster with light streaks>.",
+    "Lift the cup with light blue color, keep clear of the white shampoo bottle, and put the cup with light blue color down on the light gray streaked wooden coaster.",
+    "Move the cup with smooth plastic surface onto <the flat round wooden coaster> and ensure the path stays away from <the plastic shampoo container>.",
+    "Using an arm, move the medium-sized plastic blue cup to <the small coaster with grain texture> while avoiding <the pink-topped shampoo bottle>, then release the medium-sized plastic blue cup.",
+    "Use an arm to move the light blue plastic cup around the medium shampoo bottle and rest the light blue plastic cup on the round coaster.",
+    "With an arm, take the cylindrical light blue cup, avoid the white body pink flip cap bottle, and put the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Lift the medium blue cylindrical cup, go around the plastic shampoo container, and position the medium blue cylindrical cup squarely on the flat surface gray wooden coaster.",
+    "Use an arm, pick the cylindrical light blue cup up, pass around the medium oval plastic shampoo container, then place the cylindrical light blue cup on the round coaster with light streaks.",
+    "Use an arm, take the cup with light blue color past the white shampoo bottle without nearing it, and rest the cup with light blue color on the coaster made of smooth wood.",
+    "Use an arm: grasp the cup for holding liquids, avoid <the plastic shampoo container>, and place the cup for holding liquids on <the small coaster with grain texture>.",
+    "With an arm, lift the plastic cup for drinks, route past <the shampoo dispenser with flat base>, and drop the plastic cup for drinks onto <the coaster made of smooth wood>.",
+    "Pick up the medium-sized plastic blue cup, route it away from the smooth white shampoo dispenser, then set the medium-sized plastic blue cup on the small coaster with grain texture.",
+    "Carry the smooth blue cup for liquids toward <the light gray streaked wooden coaster>, skirting <the pink-topped shampoo bottle>, and set the smooth blue cup for liquids down.",
+    "Lift the cylindrical light blue cup, pass beside <the medium shampoo bottle> without contact, then place the cylindrical light blue cup onto <the flat surface gray wooden coaster>.",
+    "Slide the smooth blue drinking cup toward the coaster with circular shape, detouring around the white body pink flip cap bottle, then set the smooth blue drinking cup down.",
+    "Carry the plastic cup for drinks toward <the smooth round palm-sized coaster>, keeping clear of <the hand-sized shampoo bottle>, and set the plastic cup for drinks down.",
+    "Use the arm to lift the light blue plastic cup, pass the hand-sized shampoo bottle, and place the light blue plastic cup on the round coaster.",
+    "Use the arm to move the cylindrical light blue cup past <the white shampoo bottle> and rest it on <the grainy texture coaster>.",
+    "Use an arm: grab the blue rounded-bottom cup, avoid the smooth white shampoo dispenser on the way, then set the blue rounded-bottom cup on the wooden coaster.",
+    "Secure the rounded base blue cup, move it around the oval-shaped shampoo bottle, and place the rounded base blue cup squarely on the smooth round palm-sized coaster.",
+    "Take the light blue plastic cup in the arm, route around <the hand-sized shampoo bottle>, and set it on <the flat surface gray wooden coaster>.",
+    "Use an arm to move the blue rounded-bottom cup to the grainy texture coaster, keeping the blue rounded-bottom cup from bumping the smooth white shampoo dispenser.",
+    "Lift the medium blue cylindrical cup, guide it around <the glossy white shampoo bottle>, then put the medium blue cylindrical cup onto <the light gray round grainy coaster>.",
+    "Lift the plastic cup for drinks, steer away from <the smooth white shampoo dispenser>, then place the plastic cup for drinks on <the small coaster with grain texture>.",
+    "Using an arm, grasp the smooth blue drinking cup, skirt the shampoo dispenser with flat base, and place the smooth blue drinking cup atop the wooden coaster.",
+    "Pick up the smooth blue drinking cup, avoid the oval-shaped shampoo bottle along the way, and place the smooth blue drinking cup on the coaster made of smooth wood.",
+    "Take the rounded base blue cup, keep its path away from the pink-topped shampoo bottle, and place the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Use an arm to grab the blue rounded-bottom cup, avoid the medium oval plastic shampoo container, and set the blue rounded-bottom cup down on the round coaster.",
+    "Move the smooth blue drinking cup toward the light gray streaked wooden coaster without passing near the oval-shaped shampoo bottle, then set it down.",
+    "Move the plastic cup for drinks onto the coaster made of smooth wood while avoiding the white body pink flip cap bottle, then let go of the plastic cup for drinks.",
+    "Grab the cup for holding liquids, guide it away from the hand-sized shampoo bottle, and set the cup for holding liquids neatly on the grainy texture coaster.",
+    "Lift the rounded base blue cup, pass by the pink-topped shampoo bottle without contact, then place the rounded base blue cup on the coaster with circular shape.",
+    "Take the plastic cup for drinks, swing wide of the glossy white shampoo bottle, then rest the plastic cup for drinks on the round coaster.",
+    "Take the cup for holding liquids, guide it away from <the white shampoo bottle>, and place the cup for holding liquids squarely on <the smooth round palm-sized coaster>.",
+    "Grab the cup with smooth plastic surface, swing it away from <the white shampoo bottle>, and place the cup with smooth plastic surface on <the round coaster>.",
+    "Using an arm, carry the light blue plastic cup past <the pink-topped shampoo bottle> and place the light blue plastic cup squarely on <the wooden coaster>.",
+    "Carry the smooth blue drinking cup toward the flat surface gray wooden coaster, keeping the smooth blue drinking cup away from the smooth white shampoo dispenser, then set down.",
+    "Use an arm to lift the cup with smooth plastic surface, keep distance from <the glossy white shampoo bottle>, and set the cup with smooth plastic surface on <the round coaster with light streaks>.",
+    "With an arm, lift the cup with light blue color, keep it away from the plastic shampoo container, and drop it onto the wooden coaster.",
+    "Use the arm to carry the rounded base blue cup around the pink-topped shampoo bottle, then rest the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Use an arm to take the smooth blue drinking cup around <the glossy white shampoo bottle> and place the smooth blue drinking cup on <the round coaster>.",
+    "Take the medium blue cylindrical cup, arc around <the glossy white shampoo bottle>, and place the medium blue cylindrical cup neatly on <the flat surface gray wooden coaster>.",
+    "Grab the blue rounded-bottom cup, route around the medium shampoo bottle, then lower the blue rounded-bottom cup onto the flat round wooden coaster.",
+    "With an arm, lift the cup for holding liquids, avoid the smooth white shampoo dispenser, and set the cup for holding liquids onto the light gray round grainy coaster.",
+    "Take the plastic cup for drinks, route it away from the pink-topped shampoo bottle, and set the plastic cup for drinks onto the wooden coaster.",
+    "Pick up the cup with light blue color, keep clear of <the plastic shampoo container>, and drop the cup with light blue color onto <the flat round wooden coaster>.",
+    "Move the smooth blue cup for liquids onto the light gray round grainy coaster while avoiding the shampoo bottle with pink cap, then let go of the smooth blue cup for liquids.",
+    "Move the cup for holding liquids to the round coaster with light streaks without crossing the plastic shampoo container, then release the cup for holding liquids.",
+    "Guide the cup for holding liquids with the arm around <the plastic shampoo container> and onto <the coaster with circular shape>.",
+    "Lift the medium-sized plastic blue cup, guide it past the white shampoo bottle, and rest the medium-sized plastic blue cup on the wooden coaster.",
+    "With an arm, bring the smooth blue cup for liquids over to <the flat surface gray wooden coaster> and keep clear of <the smooth white shampoo dispenser>.",
+    "With an arm, lift the cup with light blue color, avoid the shampoo bottle with pink cap, and place the cup with light blue color on the wooden coaster.",
+    "Move the smooth blue drinking cup to the wooden coaster while avoiding the medium shampoo bottle, then place the smooth blue drinking cup on the wooden coaster.",
+    "Lift the cylindrical light blue cup, route it away from the medium shampoo bottle, then put the cylindrical light blue cup squarely on the grainy texture coaster.",
+    "Slide the cup with smooth plastic surface over to <the round coaster> without passing near <the shampoo bottle with pink cap>.",
+    "Move the cup with light blue color to <the round coaster with light streaks> while keeping the cup with light blue color away from <the plastic shampoo container>, then release."
+  ],
+  "unseen": [
+    "Use an arm to grab the small smooth cup, steer clear of the Dove shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with Dove logo>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the Dove shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the bottle for holding shampoo>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, route it around <the shampoo bottle with Dove logo>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the bottle for holding shampoo>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the Dove shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the Dove shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the bottle for holding shampoo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the bottle for holding shampoo, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the bottle for holding shampoo, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the Dove shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the bottle for holding shampoo>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with Dove logo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the Dove shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with Dove logo>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the bottle for holding shampoo, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the bottle for holding shampoo>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, route it around <the shampoo bottle with Dove logo>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the Dove shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the Dove shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the bottle for holding shampoo, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the bottle for holding shampoo, and set it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the Dove shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the bottle for holding shampoo, and place it on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the Dove shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the bottle for holding shampoo, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the bottle for holding shampoo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo bottle with Dove logo>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with Dove logo>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the Dove shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with Dove logo, and place the blue cup on the light gray coaster.",
+    "Grab the blue cup, steer it around the Dove shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the Dove shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with Dove logo, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the Dove shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with Dove logo, then place the blue cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with Dove logo>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the bottle for holding shampoo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the bottle for holding shampoo, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the bottle for holding shampoo>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the bottle for holding shampoo, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the bottle for holding shampoo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the Dove shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the Dove shampoo bottle>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with Dove logo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the bottle for holding shampoo, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the bottle for holding shampoo, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with Dove logo, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the Dove shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the Dove shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with Dove logo>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with Dove logo, and place it on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with Dove logo>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the Dove shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the bottle for holding shampoo>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, route it around <the shampoo bottle with Dove logo>, then place the blue cup onto <the light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with Dove logo>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with Dove logo, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the bottle for holding shampoo, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, guide it around <the bottle for holding shampoo>, and place it on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the Dove shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the bottle for holding shampoo, then place the small smooth cup onto the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the Dove shampoo bottle>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the bottle for holding shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the Dove shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the bottle for holding shampoo>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo bottle with Dove logo, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the bottle for holding shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the Dove shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the Dove shampoo bottle>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the Dove shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the Dove shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with Dove logo, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the bottle for holding shampoo, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the Dove shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle with Dove logo, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the Dove shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the Dove shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the Dove shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the Dove shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the bottle for holding shampoo>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the Dove shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode54.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode54.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a9c8e86a7d9df1e15691b3119bf93a813aadc3e
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode54.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using an arm, pick the smooth blue drinking cup up, skirt the pink bottle with narrow top, and place the smooth blue drinking cup on the flat surface gray wooden coaster.",
+    "Pick up the smooth blue drinking cup, keep clear of <the pink shampoo container with pump top>, and drop the smooth blue drinking cup onto <the light gray streaked wooden coaster>.",
+    "Using an arm, pick the rounded base blue cup up, skirt the plastic shampoo bottle with black pump, and place the rounded base blue cup on the round coaster.",
+    "Slide the cup with light blue color toward the light gray round grainy coaster, detouring around the pink bottle with black dispenser, then set the cup with light blue color down.",
+    "Use the arm to carry the cylindrical light blue cup around the shampoo bottle with shiny pink body, then rest the cylindrical light blue cup on the small coaster with grain texture.",
+    "Lift the medium blue cylindrical cup, steer away from <the smooth pink plastic shampoo bottle>, then place the medium blue cylindrical cup on <the coaster made of smooth wood>.",
+    "Lift the cylindrical light blue cup, go around the smooth pink plastic shampoo bottle, and position the cylindrical light blue cup squarely on the light gray round grainy coaster.",
+    "Use an arm to move the light blue plastic cup toward the smooth round palm-sized coaster, keeping the light blue plastic cup clear of the shampoo bottle with shiny pink body.",
+    "Pick up the medium-sized plastic blue cup, avoid the pink bottle with narrow top along the way, and place the medium-sized plastic blue cup on the round coaster with light streaks.",
+    "Pick up the medium-sized plastic blue cup, keep its path away from <the plastic shampoo bottle with black pump>, and set the medium-sized plastic blue cup on <the round coaster>.",
+    "Move the medium blue cylindrical cup to the coaster with circular shape while avoiding the pink bottle with black dispenser, then place the medium blue cylindrical cup on the coaster with circular shape.",
+    "Grab the cylindrical light blue cup, route around the shampoo bottle with rectangular shape, then lower the cylindrical light blue cup onto the light gray round grainy coaster.",
+    "Using an arm, grasp the cup with light blue color, skirt the medium pink bottle for shampoo, and place the cup with light blue color atop the light gray streaked wooden coaster.",
+    "Take the blue rounded-bottom cup, keep its path away from the pink bottle with narrow top, and place the blue rounded-bottom cup on the round coaster.",
+    "Lift the rounded base blue cup, keep clear of the hand-sized pink shampoo container, and put the rounded base blue cup down on the light gray streaked wooden coaster.",
+    "Use an arm, take the cylindrical light blue cup, avoid <the medium pink bottle for shampoo> on the way, and set on <the light gray streaked wooden coaster>.",
+    "Use an arm, keep the rounded base blue cup from the rectangular pink shampoo container, and lower the rounded base blue cup onto the flat round wooden coaster.",
+    "Take the cup for holding liquids, keep its path away from the pink bottle with narrow top, and drop the cup for holding liquids on the coaster with circular shape.",
+    "With an arm, take the smooth blue cup for liquids, avoid the shampoo bottle with rectangular shape, and put the smooth blue cup for liquids on the coaster made of smooth wood.",
+    "Carry the cylindrical light blue cup toward the flat surface gray wooden coaster, keeping the cylindrical light blue cup away from the rectangular pink bottle with dispenser, then set down.",
+    "Use an arm: pick the light blue plastic cup up, skirt <the pink bottle with black dispenser>, then place the light blue plastic cup onto <the round coaster with light streaks>.",
+    "Lift the rounded base blue cup, guide it around <the pink bottle with black dispenser>, then put the rounded base blue cup onto <the light gray round grainy coaster>.",
+    "Secure the cup with smooth plastic surface, move it around the pink shampoo container with pump top, and place the cup with smooth plastic surface squarely on the coaster made of smooth wood.",
+    "With an arm, move the blue rounded-bottom cup past the pink bottle with black dispenser and place the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Grab the plastic cup for drinks, guide it away from the pink bottle with black dispenser, and set the plastic cup for drinks neatly on the light gray streaked wooden coaster.",
+    "With an arm, lift the light blue plastic cup, avoid the pink bottle with black dispenser, and set the light blue plastic cup onto the round coaster with light streaks.",
+    "Use an arm to move the medium blue cylindrical cup to the round coaster with light streaks, keeping the medium blue cylindrical cup from bumping the shampoo bottle with rectangular shape.",
+    "Move the rounded base blue cup onto <the smooth round palm-sized coaster> and ensure the path stays away from <the smooth pink plastic shampoo bottle>.",
+    "Lift the medium blue cylindrical cup, carry it around the shampoo bottle with rectangular shape, and place the medium blue cylindrical cup squarely on the light gray streaked wooden coaster.",
+    "Use an arm: take the blue rounded-bottom cup, avoid the smooth pink plastic shampoo bottle during the move, and drop it on the flat surface gray wooden coaster.",
+    "Pick the cup for holding liquids up, route it away from the pink bottle with narrow top, and drop the cup for holding liquids onto the wooden coaster.",
+    "Move the cup with smooth plastic surface to <the flat surface gray wooden coaster> while keeping the cup with smooth plastic surface away from <the plastic shampoo bottle with black pump>, then release.",
+    "With an arm, lift the rounded base blue cup, route past <the pink shampoo bottle>, and drop the rounded base blue cup onto <the round coaster>.",
+    "Take the smooth blue drinking cup, arc around <the plastic shampoo bottle with black pump>, and place the smooth blue drinking cup neatly on <the round coaster>.",
+    "Use an arm: grasp the cup with smooth plastic surface, avoid <the pink bottle with narrow top>, and place the cup with smooth plastic surface on <the coaster made of smooth wood>.",
+    "Use the arm to move the smooth blue drinking cup past <the hand-sized pink shampoo container> and rest it on <the grainy texture coaster>.",
+    "Take the cylindrical light blue cup to the coaster with circular shape while skirting the medium pink bottle for shampoo, then release the cylindrical light blue cup on the coaster with circular shape.",
+    "Lift the cup with light blue color, pass by the smooth pink plastic shampoo bottle without contact, then place the cup with light blue color on the grainy texture coaster.",
+    "Move the cylindrical light blue cup to <the small coaster with grain texture> while keeping its path away from <the shampoo bottle with rectangular shape>.",
+    "With an arm, lift the rounded base blue cup, keep it away from the plastic shampoo bottle with black pump, and drop it onto the flat surface gray wooden coaster.",
+    "Using an arm, carry the cup with smooth plastic surface past <the medium pink bottle for shampoo> and place the cup with smooth plastic surface squarely on <the light gray streaked wooden coaster>.",
+    "Lift the blue rounded-bottom cup, route it away from the medium pink bottle for shampoo, then put the blue rounded-bottom cup squarely on the round coaster.",
+    "Move the medium-sized plastic blue cup onto the wooden coaster while avoiding the medium pink bottle for shampoo, then let go of the medium-sized plastic blue cup.",
+    "Take the blue rounded-bottom cup, guide it away from <the shampoo bottle with shiny pink body>, and place the blue rounded-bottom cup squarely on <the round coaster>.",
+    "Use an arm to move the cup with light blue color around the pink bottle with black dispenser and rest the cup with light blue color on the round coaster.",
+    "With an arm, lift the medium-sized plastic blue cup, guide it past the medium pink bottle for shampoo, and put the medium-sized plastic blue cup on the round coaster with light streaks.",
+    "Use an arm, pick the cylindrical light blue cup up, pass around the shampoo bottle with rectangular shape, then place the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Pick up the cup for holding liquids, route it away from the pink shampoo bottle, then set the cup for holding liquids on the grainy texture coaster.",
+    "Move the medium blue cylindrical cup onto the coaster made of smooth wood while avoiding the shampoo bottle with rectangular shape, then let go of the medium blue cylindrical cup.",
+    "Use an arm to lift the light blue plastic cup, arc around the medium pink bottle for shampoo, and place the light blue plastic cup atop the coaster with circular shape.",
+    "With an arm, lift the cylindrical light blue cup, avoid the hand-sized pink shampoo container, and place the cylindrical light blue cup on the flat round wooden coaster.",
+    "Use an arm to bring the light blue plastic cup to the light gray round grainy coaster, keeping the light blue plastic cup clear of the smooth pink plastic shampoo bottle.",
+    "Using an arm, move the smooth blue cup for liquids to <the light gray streaked wooden coaster> while avoiding <the smooth pink plastic shampoo bottle>, then release the smooth blue cup for liquids.",
+    "Use an arm: grab the plastic cup for drinks, avoid the plastic shampoo bottle with black pump on the way, then set the plastic cup for drinks on the round coaster.",
+    "Carry the cylindrical light blue cup toward <the round coaster>, keeping clear of <the smooth pink plastic shampoo bottle>, and set the cylindrical light blue cup down.",
+    "Guide the rounded base blue cup with the arm around <the shampoo bottle with shiny pink body> and onto <the wooden coaster>.",
+    "With an arm, bring the light blue plastic cup over to <the small coaster with grain texture> and keep clear of <the plastic shampoo bottle with black pump>.",
+    "Use an arm to grab the cup for holding liquids, avoid the medium pink bottle for shampoo, and set the cup for holding liquids down on the light gray streaked wooden coaster.",
+    "Use an arm to lift the cup with light blue color, keep distance from <the hand-sized pink shampoo container>, and set the cup with light blue color on <the round coaster>.",
+    "Carry the light blue plastic cup toward <the coaster made of smooth wood>, skirting <the shampoo bottle with shiny pink body>, and set the light blue plastic cup down.",
+    "Move the light blue plastic cup to the light gray round grainy coaster without crossing the pink shampoo bottle, then release the light blue plastic cup.",
+    "Take the plastic cup for drinks in the arm, route around <the pink bottle with narrow top>, and set it on <the round coaster>.",
+    "Use the arm to lift the light blue plastic cup, pass the rectangular pink shampoo container, and place the light blue plastic cup on the round coaster with light streaks.",
+    "Secure the cup with light blue color, keep its path away from the shampoo bottle with shiny pink body, and set the cup with light blue color on the small coaster with grain texture.",
+    "Lift the cup with light blue color, arc around the pink shampoo bottle, and place the cup with light blue color squarely on the flat round wooden coaster.",
+    "Lift the plastic cup for drinks, pass beside <the rectangular pink shampoo container> without contact, then place the plastic cup for drinks onto <the flat surface gray wooden coaster>.",
+    "Pick up the cup with smooth plastic surface, guide it past the pink shampoo bottle, and drop the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "With an arm, pick the medium-sized plastic blue cup up, bypass <the rectangular pink bottle with dispenser>, then place the medium-sized plastic blue cup on <the flat round wooden coaster>.",
+    "Take the plastic cup for drinks, swing wide of the rectangular pink shampoo container, then rest the plastic cup for drinks on the round coaster with light streaks.",
+    "With an arm, lift the plastic cup for drinks, avoid <the plastic shampoo bottle with black pump> on the way, and drop the plastic cup for drinks on <the light gray streaked wooden coaster>.",
+    "Carry the plastic cup for drinks toward <the light gray round grainy coaster>, keeping the path clear of <the pink shampoo bottle>, then set down.",
+    "Using an arm, carry the smooth blue drinking cup around the rectangular pink shampoo container and place the smooth blue drinking cup onto the small coaster with grain texture.",
+    "Arm-lift the cylindrical light blue cup, swing around <the pink shampoo bottle>, then place the cylindrical light blue cup onto <the coaster with circular shape>.",
+    "Slide the medium-sized plastic blue cup over to <the coaster with circular shape> without passing near <the shampoo bottle with rectangular shape>.",
+    "Lift the cup with smooth plastic surface, guide it past the hand-sized pink shampoo container, and rest the cup with smooth plastic surface on the wooden coaster.",
+    "Take the cup for holding liquids, route it away from the pink shampoo container with pump top, and set the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Move the cup with smooth plastic surface toward the round coaster without passing near the rectangular pink bottle with dispenser, then set it down.",
+    "Use an arm to take the smooth blue drinking cup around <the smooth pink plastic shampoo bottle> and place the smooth blue drinking cup on <the round coaster with light streaks>.",
+    "Grab the medium blue cylindrical cup, swing it away from <the pink shampoo bottle>, and place the medium blue cylindrical cup on <the round coaster>.",
+    "Use an arm, take the rounded base blue cup past the pink shampoo bottle without nearing it, and rest the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Using an arm, pick the rounded base blue cup up, skirt the pink shampoo bottle, and place the rounded base blue cup on the light gray round grainy coaster.",
+    "Pick up the plastic cup for drinks, keep clear of <the hand-sized pink shampoo container>, and drop the plastic cup for drinks onto <the grainy texture coaster>.",
+    "Using an arm, pick the light blue plastic cup up, skirt the smooth pink plastic shampoo bottle, and place the light blue plastic cup on the smooth round palm-sized coaster.",
+    "Slide the cylindrical light blue cup toward the small coaster with grain texture, detouring around the shampoo bottle with shiny pink body, then set the cylindrical light blue cup down.",
+    "Use the arm to carry the smooth blue drinking cup around the rectangular pink bottle with dispenser, then rest the smooth blue drinking cup on the wooden coaster.",
+    "Lift the smooth blue cup for liquids, steer away from <the pink shampoo container with pump top>, then place the smooth blue cup for liquids on <the flat round wooden coaster>.",
+    "Lift the medium blue cylindrical cup, go around the rectangular pink bottle with dispenser, and position the medium blue cylindrical cup squarely on the grainy texture coaster.",
+    "Use an arm to move the smooth blue cup for liquids toward the smooth round palm-sized coaster, keeping the smooth blue cup for liquids clear of the smooth pink plastic shampoo bottle.",
+    "Pick up the smooth blue drinking cup, avoid the pink shampoo bottle along the way, and place the smooth blue drinking cup on the coaster with circular shape.",
+    "Pick up the plastic cup for drinks, keep its path away from <the pink bottle with black dispenser>, and set the plastic cup for drinks on <the round coaster>.",
+    "Move the smooth blue cup for liquids to the grainy texture coaster while avoiding the medium pink bottle for shampoo, then place the smooth blue cup for liquids on the grainy texture coaster.",
+    "Grab the smooth blue cup for liquids, route around the plastic shampoo bottle with black pump, then lower the smooth blue cup for liquids onto the flat surface gray wooden coaster.",
+    "Using an arm, grasp the smooth blue drinking cup, skirt the hand-sized pink shampoo container, and place the smooth blue drinking cup atop the flat surface gray wooden coaster.",
+    "Take the cup for holding liquids, keep its path away from the plastic shampoo bottle with black pump, and place the cup for holding liquids on the wooden coaster.",
+    "Lift the rounded base blue cup, keep clear of the shampoo bottle with shiny pink body, and put the rounded base blue cup down on the flat surface gray wooden coaster.",
+    "Use an arm, take the cylindrical light blue cup, avoid <the medium pink bottle for shampoo> on the way, and set on <the coaster with circular shape>.",
+    "Use an arm, keep the cup with smooth plastic surface from the pink shampoo bottle, and lower the cup with smooth plastic surface onto the coaster made of smooth wood.",
+    "Take the cup with light blue color, keep its path away from the pink bottle with black dispenser, and drop the cup with light blue color on the flat round wooden coaster.",
+    "With an arm, take the cup for holding liquids, avoid the medium pink bottle for shampoo, and put the cup for holding liquids on the coaster with circular shape.",
+    "Carry the medium-sized plastic blue cup toward the coaster with circular shape, keeping the medium-sized plastic blue cup away from the pink shampoo container with pump top, then set down."
+  ],
+  "unseen": [
+    "Grab the handheld round blue cup, steer it around the glossy pink shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the glossy pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the glossy pink shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the plastic pink shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the plastic pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with black pump, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the plastic pink shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the plastic pink shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the glossy pink shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the shampoo bottle with black pump>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the glossy pink shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with black pump, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the plastic pink shampoo bottle, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the plastic pink shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the plastic pink shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the glossy pink shampoo bottle, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the plastic pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the glossy pink shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the glossy pink shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with black pump, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the glossy pink shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the plastic pink shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the plastic pink shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the plastic pink shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with black pump>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with black pump>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the glossy pink shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the plastic pink shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, carry it around the plastic pink shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the plastic pink shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle with black pump, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the glossy pink shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with black pump, and place it on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the plastic pink shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with black pump>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the glossy pink shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the glossy pink shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the glossy pink shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the glossy pink shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the plastic pink shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with black pump, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the glossy pink shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the plastic pink shampoo bottle>, and place it on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the glossy pink shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with black pump, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the plastic pink shampoo bottle, and place it on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with black pump, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the glossy pink shampoo bottle>, and set the small smooth cup on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the glossy pink shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with black pump>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around <the plastic pink shampoo bottle>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with black pump, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the glossy pink shampoo bottle, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the plastic pink shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the plastic pink shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the glossy pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the plastic pink shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with black pump>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the plastic pink shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the glossy pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with black pump, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the plastic pink shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with black pump>, and set the blue cup on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the glossy pink shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the glossy pink shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the plastic pink shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with black pump, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the glossy pink shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the glossy pink shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the glossy pink shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the plastic pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the plastic pink shampoo bottle>, and place it on <the light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with black pump>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the plastic pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the glossy pink shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with black pump>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the blue cup, avoid <the glossy pink shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the glossy pink shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the plastic pink shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the glossy pink shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with black pump, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo bottle with black pump, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the plastic pink shampoo bottle, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the plastic pink shampoo bottle, and set it on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the glossy pink shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode55.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode55.json
new file mode 100644
index 0000000000000000000000000000000000000000..58b94cc8bd9956f87b013d77a4b42a18e0da3570
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode55.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the cup with light blue color, pass beside <the curved light blue shampoo bottle> without contact, then place the cup with light blue color onto <the light gray streaked wooden coaster>.",
+    "Carry the medium-sized plastic blue cup toward <the light gray round grainy coaster>, skirting <the blue shampoo bottle slender design>, and set the medium-sized plastic blue cup down.",
+    "With an arm, lift the plastic cup for drinks, guide it past the blue shampoo bottle, and put the plastic cup for drinks on the round coaster.",
+    "Secure the cylindrical light blue cup, keep its path away from the shampoo bottle with matte plastic, and set the cylindrical light blue cup on the coaster made of smooth wood.",
+    "With an arm, lift the cup with light blue color, avoid the shampoo bottle tapered toward cap, and place the cup with light blue color on the round coaster with light streaks.",
+    "Pick up the light blue plastic cup, guide it past the shampoo bottle tapered toward cap, and drop the light blue plastic cup on the light gray streaked wooden coaster.",
+    "With an arm, pick the light blue plastic cup up, bypass <the small smooth shampoo bottle>, then place the light blue plastic cup on <the small coaster with grain texture>.",
+    "Guide the plastic cup for drinks with the arm around <the shampoo bottle with matte plastic> and onto <the light gray round grainy coaster>.",
+    "Take the cup for holding liquids to the light gray round grainy coaster while skirting the hand-sized shampoo bottle, then release the cup for holding liquids on the light gray round grainy coaster.",
+    "Grab the medium-sized plastic blue cup, route around the light blue shampoo bottle small size, then lower the medium-sized plastic blue cup onto the flat surface gray wooden coaster.",
+    "Carry the cup with light blue color toward <the round coaster>, keeping the path clear of <the shampoo bottle with white cap>, then set down.",
+    "Grab the smooth blue drinking cup, swing it away from <the shampoo bottle with white cap>, and place the smooth blue drinking cup on <the smooth round palm-sized coaster>.",
+    "Lift the cylindrical light blue cup, carry it around the curved light blue shampoo bottle, and place the cylindrical light blue cup squarely on the small coaster with grain texture.",
+    "Carry the medium blue cylindrical cup toward <the flat surface gray wooden coaster>, keeping clear of <the bottle of shampoo>, and set the medium blue cylindrical cup down.",
+    "Use the arm to move the medium blue cylindrical cup past <the light blue shampoo bottle small size> and rest it on <the flat surface gray wooden coaster>.",
+    "Use an arm to lift the blue rounded-bottom cup, keep distance from <the bottle of shampoo>, and set the blue rounded-bottom cup on <the flat round wooden coaster>.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid the bottle of shampoo, and set the medium-sized plastic blue cup onto the light gray round grainy coaster.",
+    "Using an arm, move the cup with light blue color to <the light gray streaked wooden coaster> while avoiding <the small smooth shampoo bottle>, then release the cup with light blue color.",
+    "Take the light blue plastic cup, swing wide of the bottle of shampoo, then rest the light blue plastic cup on the coaster with circular shape.",
+    "Pick the blue rounded-bottom cup up, route it away from the shampoo bottle with matte plastic, and drop the blue rounded-bottom cup onto the flat round wooden coaster.",
+    "Lift the rounded base blue cup, keep clear of the shampoo bottle tapered toward cap, and put the rounded base blue cup down on the round coaster.",
+    "With an arm, take the smooth blue cup for liquids, avoid the shampoo bottle with white cap, and put the smooth blue cup for liquids on the round coaster with light streaks.",
+    "Use an arm to take the cup with smooth plastic surface around <the blue shampoo bottle slender design> and place the cup with smooth plastic surface on <the flat round wooden coaster>.",
+    "Use an arm to lift the medium blue cylindrical cup, arc around the shampoo bottle flat bottom edge, and place the medium blue cylindrical cup atop the light gray round grainy coaster.",
+    "Arm-lift the smooth blue cup for liquids, swing around <the small smooth shampoo bottle>, then place the smooth blue cup for liquids onto <the smooth round palm-sized coaster>.",
+    "Use an arm: take the blue rounded-bottom cup, avoid the light blue shampoo bottle small size during the move, and drop it on the wooden coaster.",
+    "Pick up the medium blue cylindrical cup, avoid the bottle of shampoo along the way, and place the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Move the cylindrical light blue cup onto the small coaster with grain texture while avoiding the shampoo bottle with white cap, then let go of the cylindrical light blue cup.",
+    "Use an arm, pick the cylindrical light blue cup up, pass around the shampoo bottle flat bottom edge, then place the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Take the plastic cup for drinks, keep its path away from the light blue shampoo bottle small size, and drop the plastic cup for drinks on the grainy texture coaster.",
+    "Take the rounded base blue cup, route it away from the shampoo bottle with white cap, and set the rounded base blue cup onto the grainy texture coaster.",
+    "Lift the cylindrical light blue cup, arc around the blue shampoo bottle slender design, and place the cylindrical light blue cup squarely on the coaster made of smooth wood.",
+    "Lift the cup for holding liquids, go around the small smooth shampoo bottle, and position the cup for holding liquids squarely on the round coaster with light streaks.",
+    "Use an arm, keep the light blue plastic cup from the shampoo bottle with matte plastic, and lower the light blue plastic cup onto the round coaster.",
+    "Use an arm to move the blue rounded-bottom cup toward the round coaster, keeping the blue rounded-bottom cup clear of the blue shampoo bottle.",
+    "Carry the blue rounded-bottom cup toward the round coaster, keeping the blue rounded-bottom cup away from the hand-sized shampoo bottle, then set down.",
+    "Use the arm to carry the cup for holding liquids around the hand-sized shampoo bottle, then rest the cup for holding liquids on the coaster made of smooth wood.",
+    "Use an arm: grab the medium blue cylindrical cup, avoid the curved light blue shampoo bottle on the way, then set the medium blue cylindrical cup on the flat round wooden coaster.",
+    "Slide the medium blue cylindrical cup over to <the grainy texture coaster> without passing near <the shampoo bottle with white cap>.",
+    "Use an arm to bring the rounded base blue cup to the small coaster with grain texture, keeping the rounded base blue cup clear of the shampoo bottle tapered toward cap.",
+    "Move the cup for holding liquids to <the coaster with circular shape> while keeping its path away from <the blue shampoo bottle slender design>.",
+    "Lift the medium blue cylindrical cup, route it away from the small smooth shampoo bottle, then put the medium blue cylindrical cup squarely on the light gray round grainy coaster.",
+    "Use an arm to grab the blue rounded-bottom cup, avoid the shampoo bottle tapered toward cap, and set the blue rounded-bottom cup down on the light gray round grainy coaster.",
+    "Using an arm, pick the light blue plastic cup up, skirt the shampoo bottle with white cap, and place the light blue plastic cup on the round coaster with light streaks.",
+    "Use an arm, take the smooth blue cup for liquids past the blue shampoo bottle without nearing it, and rest the smooth blue cup for liquids on the round coaster with light streaks.",
+    "Move the medium blue cylindrical cup onto <the smooth round palm-sized coaster> and ensure the path stays away from <the bottle of shampoo>.",
+    "Take the cup with light blue color in the arm, route around <the light blue shampoo bottle small size>, and set it on <the flat round wooden coaster>.",
+    "Use an arm: pick the blue rounded-bottom cup up, skirt <the bottle light blue rounded shape>, then place the blue rounded-bottom cup onto <the round coaster with light streaks>.",
+    "With an arm, lift the smooth blue cup for liquids, keep it away from the shampoo bottle tapered toward cap, and drop it onto the smooth round palm-sized coaster.",
+    "With an arm, lift the light blue plastic cup, avoid <the blue shampoo bottle slender design> on the way, and drop the light blue plastic cup on <the small coaster with grain texture>.",
+    "Pick up the medium blue cylindrical cup, keep its path away from <the hand-sized shampoo bottle>, and set the medium blue cylindrical cup on <the light gray streaked wooden coaster>.",
+    "Using an arm, pick the smooth blue drinking cup up, skirt the hand-sized shampoo bottle, and place the smooth blue drinking cup on the coaster with circular shape.",
+    "Move the cup with light blue color toward the smooth round palm-sized coaster without passing near the shampoo bottle tapered toward cap, then set it down.",
+    "With an arm, move the smooth blue cup for liquids past the shampoo bottle flat bottom edge and place the smooth blue cup for liquids on the round coaster.",
+    "Take the cup with light blue color, arc around <the blue shampoo bottle>, and place the cup with light blue color neatly on <the grainy texture coaster>.",
+    "Using an arm, grasp the medium blue cylindrical cup, skirt the shampoo bottle with white cap, and place the medium blue cylindrical cup atop the grainy texture coaster.",
+    "Pick up the medium-sized plastic blue cup, route it away from the light blue shampoo bottle small size, then set the medium-sized plastic blue cup on the round coaster.",
+    "Take the cup with smooth plastic surface, guide it away from <the curved light blue shampoo bottle>, and place the cup with smooth plastic surface squarely on <the small coaster with grain texture>.",
+    "Secure the blue rounded-bottom cup, move it around the small smooth shampoo bottle, and place the blue rounded-bottom cup squarely on the small coaster with grain texture.",
+    "Lift the cylindrical light blue cup, guide it around <the light blue shampoo bottle small size>, then put the cylindrical light blue cup onto <the small coaster with grain texture>.",
+    "Use an arm to move the cup for holding liquids to the grainy texture coaster, keeping the cup for holding liquids from bumping the blue shampoo bottle.",
+    "Slide the smooth blue drinking cup toward the flat round wooden coaster, detouring around the small smooth shampoo bottle, then set the smooth blue drinking cup down.",
+    "Pick up the plastic cup for drinks, keep clear of <the shampoo bottle with white cap>, and drop the plastic cup for drinks onto <the smooth round palm-sized coaster>.",
+    "With an arm, bring the cup with light blue color over to <the round coaster> and keep clear of <the shampoo bottle tapered toward cap>.",
+    "With an arm, lift the blue rounded-bottom cup, route past <the bottle of shampoo>, and drop the blue rounded-bottom cup onto <the flat round wooden coaster>.",
+    "Use an arm, take the cylindrical light blue cup, avoid <the blue shampoo bottle> on the way, and set on <the smooth round palm-sized coaster>.",
+    "Lift the blue rounded-bottom cup, steer away from <the shampoo bottle flat bottom edge>, then place the blue rounded-bottom cup on <the coaster with circular shape>.",
+    "Move the rounded base blue cup to the wooden coaster without crossing the curved light blue shampoo bottle, then release the rounded base blue cup.",
+    "Use the arm to lift the blue rounded-bottom cup, pass the small smooth shampoo bottle, and place the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Move the cup with light blue color onto the flat round wooden coaster while avoiding the shampoo bottle tapered toward cap, then let go of the cup with light blue color.",
+    "Lift the blue rounded-bottom cup, pass by the shampoo bottle flat bottom edge without contact, then place the blue rounded-bottom cup on the light gray round grainy coaster.",
+    "Move the blue rounded-bottom cup to <the round coaster> while keeping the blue rounded-bottom cup away from <the shampoo bottle with matte plastic>, then release.",
+    "Take the plastic cup for drinks, keep its path away from the shampoo bottle with matte plastic, and place the plastic cup for drinks on the coaster made of smooth wood.",
+    "Grab the cup for holding liquids, guide it away from the blue shampoo bottle, and set the cup for holding liquids neatly on the wooden coaster.",
+    "Use an arm to move the rounded base blue cup around the small smooth shampoo bottle and rest the rounded base blue cup on the coaster with circular shape.",
+    "Use an arm: grasp the cup for holding liquids, avoid <the small smooth shampoo bottle>, and place the cup for holding liquids on <the smooth round palm-sized coaster>.",
+    "Using an arm, carry the blue rounded-bottom cup around the bottle of shampoo and place the blue rounded-bottom cup onto the small coaster with grain texture.",
+    "Lift the blue rounded-bottom cup, guide it past the bottle light blue rounded shape, and rest the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "Move the smooth blue drinking cup to the coaster with circular shape while avoiding the hand-sized shampoo bottle, then place the smooth blue drinking cup on the coaster with circular shape.",
+    "Using an arm, carry the blue rounded-bottom cup past <the blue shampoo bottle> and place the blue rounded-bottom cup squarely on <the coaster made of smooth wood>.",
+    "Lift the cup with smooth plastic surface, pass beside <the bottle light blue rounded shape> without contact, then place the cup with smooth plastic surface onto <the grainy texture coaster>.",
+    "Carry the rounded base blue cup toward <the small coaster with grain texture>, skirting <the blue shampoo bottle slender design>, and set the rounded base blue cup down.",
+    "With an arm, lift the medium-sized plastic blue cup, guide it past the bottle of shampoo, and put the medium-sized plastic blue cup on the round coaster with light streaks.",
+    "Secure the smooth blue drinking cup, keep its path away from the bottle light blue rounded shape, and set the smooth blue drinking cup on the small coaster with grain texture.",
+    "With an arm, lift the medium blue cylindrical cup, avoid the blue shampoo bottle, and place the medium blue cylindrical cup on the flat round wooden coaster.",
+    "Pick up the cup for holding liquids, guide it past the shampoo bottle with matte plastic, and drop the cup for holding liquids on the round coaster.",
+    "With an arm, pick the smooth blue cup for liquids up, bypass <the small smooth shampoo bottle>, then place the smooth blue cup for liquids on <the coaster made of smooth wood>.",
+    "Guide the medium-sized plastic blue cup with the arm around <the shampoo bottle with matte plastic> and onto <the small coaster with grain texture>.",
+    "Take the cup with smooth plastic surface to the round coaster while skirting the curved light blue shampoo bottle, then release the cup with smooth plastic surface on the round coaster.",
+    "Grab the smooth blue drinking cup, route around the shampoo bottle with matte plastic, then lower the smooth blue drinking cup onto the smooth round palm-sized coaster.",
+    "Carry the rounded base blue cup toward <the light gray streaked wooden coaster>, keeping the path clear of <the bottle light blue rounded shape>, then set down.",
+    "Grab the plastic cup for drinks, swing it away from <the light blue shampoo bottle small size>, and place the plastic cup for drinks on <the round coaster>.",
+    "Lift the smooth blue drinking cup, carry it around the hand-sized shampoo bottle, and place the smooth blue drinking cup squarely on the grainy texture coaster.",
+    "Carry the cylindrical light blue cup toward <the flat round wooden coaster>, keeping clear of <the bottle of shampoo>, and set the cylindrical light blue cup down.",
+    "Use the arm to move the cylindrical light blue cup past <the shampoo bottle tapered toward cap> and rest it on <the light gray round grainy coaster>.",
+    "Use an arm to lift the smooth blue drinking cup, keep distance from <the light blue shampoo bottle small size>, and set the smooth blue drinking cup on <the wooden coaster>.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the light blue shampoo bottle small size, and set the blue rounded-bottom cup onto the round coaster with light streaks.",
+    "Using an arm, move the smooth blue drinking cup to <the round coaster> while avoiding <the shampoo bottle flat bottom edge>, then release the smooth blue drinking cup.",
+    "Take the plastic cup for drinks, swing wide of the bottle of shampoo, then rest the plastic cup for drinks on the coaster with circular shape.",
+    "Pick the cup for holding liquids up, route it away from the shampoo bottle flat bottom edge, and drop the cup for holding liquids onto the grainy texture coaster."
+  ],
+  "unseen": [
+    "Grab the blue cup, guide it around <the smooth bottle containing shampoo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the oval light blue shampoo container, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container white rounded top, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container white rounded top, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container white rounded top, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the smooth bottle containing shampoo>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the oval light blue shampoo container>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the oval light blue shampoo container>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the shampoo container white rounded top, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the oval light blue shampoo container>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container white rounded top, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the smooth bottle containing shampoo>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the oval light blue shampoo container>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the smooth bottle containing shampoo, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the smooth bottle containing shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the smooth bottle containing shampoo, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the smooth bottle containing shampoo, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the oval light blue shampoo container>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the oval light blue shampoo container>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the oval light blue shampoo container>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo container white rounded top, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the oval light blue shampoo container>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container white rounded top, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the smooth bottle containing shampoo>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, guide it around <the shampoo container white rounded top>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the smooth bottle containing shampoo, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the oval light blue shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container white rounded top, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the oval light blue shampoo container, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container white rounded top>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container white rounded top>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the oval light blue shampoo container>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the smooth bottle containing shampoo, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the smooth bottle containing shampoo>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, avoid the oval light blue shampoo container, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the shampoo container white rounded top>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the smooth bottle containing shampoo, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the smooth bottle containing shampoo, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the oval light blue shampoo container, and place it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth bottle containing shampoo>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the oval light blue shampoo container>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the oval light blue shampoo container, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the oval light blue shampoo container>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, avoid the oval light blue shampoo container, and place the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container white rounded top>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the oval light blue shampoo container>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo container white rounded top, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo container white rounded top, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container white rounded top, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the oval light blue shampoo container, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the oval light blue shampoo container>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the oval light blue shampoo container>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, steer it around the oval light blue shampoo container, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container white rounded top>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the smooth bottle containing shampoo, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the smooth bottle containing shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the smooth bottle containing shampoo, then set the blue cup down on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the oval light blue shampoo container, then place the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the oval light blue shampoo container, and set it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container white rounded top, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth bottle containing shampoo, and set the blue cup on the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container white rounded top>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container white rounded top>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the smooth bottle containing shampoo, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the oval light blue shampoo container>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container white rounded top, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the smooth bottle containing shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo container white rounded top, then set the small smooth cup down on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode56.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode56.json
new file mode 100644
index 0000000000000000000000000000000000000000..952b97346a1a72aee9b632585b2ec3d4e2a6e72c
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode56.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the cup for holding liquids, guide it away from <the small smooth shampoo bottle>, and place the cup for holding liquids squarely on <the round coaster>.",
+    "Using an arm, move the plastic cup for drinks to <the light gray round grainy coaster> while avoiding <the shampoo bottle flat bottom edge>, then release the plastic cup for drinks.",
+    "Lift the rounded base blue cup, keep clear of the shampoo bottle with white cap, and put the rounded base blue cup down on the grainy texture coaster.",
+    "Lift the cup with light blue color, guide it past the curved light blue shampoo bottle, and rest the cup with light blue color on the light gray round grainy coaster.",
+    "Carry the light blue plastic cup toward <the smooth round palm-sized coaster>, skirting <the shampoo bottle with white cap>, and set the light blue plastic cup down.",
+    "Take the smooth blue drinking cup in the arm, route around <the shampoo bottle flat bottom edge>, and set it on <the small coaster with grain texture>.",
+    "Take the plastic cup for drinks to the grainy texture coaster while skirting the shampoo bottle tapered toward cap, then release the plastic cup for drinks on the grainy texture coaster.",
+    "Move the medium-sized plastic blue cup to <the round coaster> while keeping the medium-sized plastic blue cup away from <the bottle of shampoo>, then release.",
+    "Carry the cup with smooth plastic surface toward <the coaster with circular shape>, keeping the path clear of <the bottle of shampoo>, then set down.",
+    "Use an arm, pick the medium blue cylindrical cup up, pass around the small smooth shampoo bottle, then place the medium blue cylindrical cup on the small coaster with grain texture.",
+    "Using an arm, grasp the cup with smooth plastic surface, skirt the small smooth shampoo bottle, and place the cup with smooth plastic surface atop the round coaster.",
+    "Use the arm to lift the cylindrical light blue cup, pass the bottle of shampoo, and place the cylindrical light blue cup on the grainy texture coaster.",
+    "With an arm, pick the cup with light blue color up, bypass <the blue shampoo bottle>, then place the cup with light blue color on <the small coaster with grain texture>.",
+    "Pick up the cup for holding liquids, avoid the blue shampoo bottle slender design along the way, and place the cup for holding liquids on the small coaster with grain texture.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the shampoo bottle with white cap, and place the cup with smooth plastic surface on the round coaster with light streaks.",
+    "Take the cup with light blue color, route it away from the shampoo bottle with matte plastic, and set the cup with light blue color onto the round coaster with light streaks.",
+    "Use an arm to bring the smooth blue cup for liquids to the flat surface gray wooden coaster, keeping the smooth blue cup for liquids clear of the hand-sized shampoo bottle.",
+    "Use an arm: pick the cup with smooth plastic surface up, skirt <the blue shampoo bottle>, then place the cup with smooth plastic surface onto <the coaster with circular shape>.",
+    "Move the medium-sized plastic blue cup to <the round coaster> while keeping its path away from <the shampoo bottle with matte plastic>.",
+    "Lift the cup for holding liquids, guide it around <the bottle light blue rounded shape>, then put the cup for holding liquids onto <the flat surface gray wooden coaster>.",
+    "Use an arm to take the smooth blue cup for liquids around <the curved light blue shampoo bottle> and place the smooth blue cup for liquids on <the light gray round grainy coaster>.",
+    "Take the medium-sized plastic blue cup, keep its path away from the light blue shampoo bottle small size, and drop the medium-sized plastic blue cup on the round coaster with light streaks.",
+    "Using an arm, carry the medium-sized plastic blue cup around the shampoo bottle with matte plastic and place the medium-sized plastic blue cup onto the light gray streaked wooden coaster.",
+    "Guide the blue rounded-bottom cup with the arm around <the bottle light blue rounded shape> and onto <the coaster with circular shape>.",
+    "With an arm, lift the medium blue cylindrical cup, avoid <the blue shampoo bottle> on the way, and drop the medium blue cylindrical cup on <the light gray round grainy coaster>.",
+    "Using an arm, pick the rounded base blue cup up, skirt the blue shampoo bottle, and place the rounded base blue cup on the round coaster.",
+    "Secure the light blue plastic cup, keep its path away from the bottle of shampoo, and set the light blue plastic cup on the flat surface gray wooden coaster.",
+    "Lift the medium blue cylindrical cup, go around the light blue shampoo bottle small size, and position the medium blue cylindrical cup squarely on the smooth round palm-sized coaster.",
+    "Carry the medium-sized plastic blue cup toward the round coaster with light streaks, keeping the medium-sized plastic blue cup away from the shampoo bottle tapered toward cap, then set down.",
+    "Slide the medium-sized plastic blue cup over to <the round coaster> without passing near <the curved light blue shampoo bottle>.",
+    "Pick up the plastic cup for drinks, route it away from the hand-sized shampoo bottle, then set the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Move the light blue plastic cup to the coaster with circular shape while avoiding the shampoo bottle with white cap, then place the light blue plastic cup on the coaster with circular shape.",
+    "Use an arm, take the cup for holding liquids past the shampoo bottle tapered toward cap without nearing it, and rest the cup for holding liquids on the wooden coaster.",
+    "Grab the blue rounded-bottom cup, swing it away from <the bottle of shampoo>, and place the blue rounded-bottom cup on <the light gray round grainy coaster>.",
+    "Use an arm, take the cup with light blue color, avoid <the blue shampoo bottle> on the way, and set on <the light gray streaked wooden coaster>.",
+    "Use the arm to carry the medium blue cylindrical cup around the hand-sized shampoo bottle, then rest the medium blue cylindrical cup on the coaster with circular shape.",
+    "Use an arm to move the cup with light blue color to the round coaster with light streaks, keeping the cup with light blue color from bumping the shampoo bottle with white cap.",
+    "Carry the smooth blue drinking cup toward <the round coaster>, keeping clear of <the shampoo bottle with white cap>, and set the smooth blue drinking cup down.",
+    "Pick up the blue rounded-bottom cup, keep clear of <the hand-sized shampoo bottle>, and drop the blue rounded-bottom cup onto <the flat surface gray wooden coaster>.",
+    "Pick up the blue rounded-bottom cup, guide it past the shampoo bottle with matte plastic, and drop the blue rounded-bottom cup on the round coaster with light streaks.",
+    "With an arm, lift the light blue plastic cup, avoid the shampoo bottle with matte plastic, and set the light blue plastic cup onto the round coaster with light streaks.",
+    "With an arm, lift the smooth blue cup for liquids, guide it past the curved light blue shampoo bottle, and put the smooth blue cup for liquids on the round coaster.",
+    "Lift the medium-sized plastic blue cup, route it away from the shampoo bottle with white cap, then put the medium-sized plastic blue cup squarely on the smooth round palm-sized coaster.",
+    "Use an arm: grasp the medium-sized plastic blue cup, avoid <the light blue shampoo bottle small size>, and place the medium-sized plastic blue cup on <the smooth round palm-sized coaster>.",
+    "With an arm, lift the blue rounded-bottom cup, route past <the small smooth shampoo bottle>, and drop the blue rounded-bottom cup onto <the flat surface gray wooden coaster>.",
+    "With an arm, lift the blue rounded-bottom cup, keep it away from the shampoo bottle flat bottom edge, and drop it onto the wooden coaster.",
+    "Take the plastic cup for drinks, swing wide of the blue shampoo bottle, then rest the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Move the plastic cup for drinks onto the light gray streaked wooden coaster while avoiding the shampoo bottle with white cap, then let go of the plastic cup for drinks.",
+    "Pick up the cup with light blue color, keep its path away from <the shampoo bottle with white cap>, and set the cup with light blue color on <the wooden coaster>.",
+    "Use an arm to grab the blue rounded-bottom cup, avoid the bottle of shampoo, and set the blue rounded-bottom cup down on the grainy texture coaster.",
+    "Move the smooth blue drinking cup toward the wooden coaster without passing near the blue shampoo bottle slender design, then set it down.",
+    "Pick the cup with light blue color up, route it away from the curved light blue shampoo bottle, and drop the cup with light blue color onto the coaster made of smooth wood.",
+    "Grab the medium blue cylindrical cup, route around the curved light blue shampoo bottle, then lower the medium blue cylindrical cup onto the round coaster.",
+    "Use an arm: take the smooth blue drinking cup, avoid the curved light blue shampoo bottle during the move, and drop it on the light gray round grainy coaster.",
+    "Take the plastic cup for drinks, keep its path away from the shampoo bottle with white cap, and place the plastic cup for drinks on the round coaster.",
+    "Lift the cup with light blue color, pass by the small smooth shampoo bottle without contact, then place the cup with light blue color on the flat round wooden coaster.",
+    "Slide the blue rounded-bottom cup toward the wooden coaster, detouring around the blue shampoo bottle slender design, then set the blue rounded-bottom cup down.",
+    "With an arm, take the cylindrical light blue cup, avoid the blue shampoo bottle slender design, and put the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Using an arm, carry the cup with light blue color past <the blue shampoo bottle slender design> and place the cup with light blue color squarely on <the coaster with circular shape>.",
+    "Lift the cup for holding liquids, arc around the shampoo bottle with white cap, and place the cup for holding liquids squarely on the light gray streaked wooden coaster.",
+    "Use an arm to lift the smooth blue cup for liquids, arc around the bottle light blue rounded shape, and place the smooth blue cup for liquids atop the round coaster.",
+    "Lift the cylindrical light blue cup, carry it around the bottle of shampoo, and place the cylindrical light blue cup squarely on the wooden coaster.",
+    "Use an arm, keep the smooth blue cup for liquids from the shampoo bottle tapered toward cap, and lower the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Lift the cup with smooth plastic surface, pass beside <the hand-sized shampoo bottle> without contact, then place the cup with smooth plastic surface onto <the coaster with circular shape>.",
+    "Lift the medium-sized plastic blue cup, steer away from <the bottle of shampoo>, then place the medium-sized plastic blue cup on <the flat surface gray wooden coaster>.",
+    "Using an arm, pick the cup for holding liquids up, skirt the bottle light blue rounded shape, and place the cup for holding liquids on the flat round wooden coaster.",
+    "Grab the cylindrical light blue cup, guide it away from the shampoo bottle with white cap, and set the cylindrical light blue cup neatly on the round coaster.",
+    "Move the light blue plastic cup onto the coaster with circular shape while avoiding the blue shampoo bottle, then let go of the light blue plastic cup.",
+    "With an arm, move the blue rounded-bottom cup past the blue shampoo bottle slender design and place the blue rounded-bottom cup on the flat round wooden coaster.",
+    "Use an arm to lift the smooth blue drinking cup, keep distance from <the shampoo bottle tapered toward cap>, and set the smooth blue drinking cup on <the wooden coaster>.",
+    "With an arm, bring the cylindrical light blue cup over to <the smooth round palm-sized coaster> and keep clear of <the small smooth shampoo bottle>.",
+    "Use the arm to move the blue rounded-bottom cup past <the blue shampoo bottle> and rest it on <the light gray streaked wooden coaster>.",
+    "Use an arm: grab the rounded base blue cup, avoid the blue shampoo bottle on the way, then set the rounded base blue cup on the grainy texture coaster.",
+    "Move the cup with smooth plastic surface to the flat round wooden coaster without crossing the shampoo bottle flat bottom edge, then release the cup with smooth plastic surface.",
+    "Take the medium blue cylindrical cup, arc around <the shampoo bottle with white cap>, and place the medium blue cylindrical cup neatly on <the round coaster>.",
+    "Move the blue rounded-bottom cup onto <the wooden coaster> and ensure the path stays away from <the bottle of shampoo>.",
+    "Use an arm to move the light blue plastic cup around the shampoo bottle with white cap and rest the light blue plastic cup on the coaster made of smooth wood.",
+    "Secure the plastic cup for drinks, move it around the bottle of shampoo, and place the plastic cup for drinks squarely on the coaster made of smooth wood.",
+    "Arm-lift the medium blue cylindrical cup, swing around <the shampoo bottle flat bottom edge>, then place the medium blue cylindrical cup onto <the light gray streaked wooden coaster>.",
+    "Use an arm to move the cup with light blue color toward the coaster made of smooth wood, keeping the cup with light blue color clear of the shampoo bottle with matte plastic.",
+    "Take the cup with smooth plastic surface, guide it away from <the blue shampoo bottle slender design>, and place the cup with smooth plastic surface squarely on <the small coaster with grain texture>.",
+    "Using an arm, move the rounded base blue cup to <the coaster made of smooth wood> while avoiding <the shampoo bottle with matte plastic>, then release the rounded base blue cup.",
+    "Lift the rounded base blue cup, keep clear of the bottle light blue rounded shape, and put the rounded base blue cup down on the flat surface gray wooden coaster.",
+    "Lift the smooth blue drinking cup, guide it past the small smooth shampoo bottle, and rest the smooth blue drinking cup on the flat surface gray wooden coaster.",
+    "Carry the plastic cup for drinks toward <the light gray streaked wooden coaster>, skirting <the small smooth shampoo bottle>, and set the plastic cup for drinks down.",
+    "Take the cup with smooth plastic surface in the arm, route around <the curved light blue shampoo bottle>, and set it on <the wooden coaster>.",
+    "Take the cup for holding liquids to the light gray round grainy coaster while skirting the shampoo bottle with white cap, then release the cup for holding liquids on the light gray round grainy coaster.",
+    "Move the smooth blue cup for liquids to <the coaster with circular shape> while keeping the smooth blue cup for liquids away from <the light blue shampoo bottle small size>, then release.",
+    "Carry the light blue plastic cup toward <the coaster with circular shape>, keeping the path clear of <the light blue shampoo bottle small size>, then set down.",
+    "Use an arm, pick the rounded base blue cup up, pass around the bottle light blue rounded shape, then place the rounded base blue cup on the small coaster with grain texture.",
+    "Using an arm, grasp the plastic cup for drinks, skirt the shampoo bottle with white cap, and place the plastic cup for drinks atop the wooden coaster.",
+    "Use the arm to lift the cup with light blue color, pass the bottle light blue rounded shape, and place the cup with light blue color on the wooden coaster.",
+    "With an arm, pick the medium blue cylindrical cup up, bypass <the bottle of shampoo>, then place the medium blue cylindrical cup on <the grainy texture coaster>.",
+    "Pick up the rounded base blue cup, avoid the shampoo bottle with white cap along the way, and place the rounded base blue cup on the wooden coaster.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid the blue shampoo bottle, and place the medium-sized plastic blue cup on the light gray streaked wooden coaster.",
+    "Take the medium-sized plastic blue cup, route it away from the shampoo bottle flat bottom edge, and set the medium-sized plastic blue cup onto the smooth round palm-sized coaster.",
+    "Use an arm to bring the blue rounded-bottom cup to the light gray round grainy coaster, keeping the blue rounded-bottom cup clear of the blue shampoo bottle slender design.",
+    "Use an arm: pick the cylindrical light blue cup up, skirt <the small smooth shampoo bottle>, then place the cylindrical light blue cup onto <the coaster made of smooth wood>.",
+    "Move the smooth blue drinking cup to <the flat surface gray wooden coaster> while keeping its path away from <the blue shampoo bottle slender design>.",
+    "Lift the cup for holding liquids, guide it around <the shampoo bottle with white cap>, then put the cup for holding liquids onto <the round coaster with light streaks>."
+  ],
+  "unseen": [
+    "With an arm, lift the blue cup, avoid <the shampoo container white rounded top>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the oval light blue shampoo container>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the shampoo container white rounded top, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the smooth bottle containing shampoo, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container white rounded top>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the smooth bottle containing shampoo>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, steer it around the oval light blue shampoo container, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the smooth bottle containing shampoo, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container white rounded top, and place it on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the smooth bottle containing shampoo>, and place it on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the oval light blue shampoo container>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the oval light blue shampoo container>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo container white rounded top, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo container white rounded top, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the oval light blue shampoo container>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the smooth bottle containing shampoo>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the shampoo container white rounded top, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container white rounded top, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the smooth bottle containing shampoo, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the oval light blue shampoo container>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo container white rounded top, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo container white rounded top>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the smooth bottle containing shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo container white rounded top>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container white rounded top>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the smooth bottle containing shampoo, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the oval light blue shampoo container, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the oval light blue shampoo container>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container white rounded top>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the smooth bottle containing shampoo, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth bottle containing shampoo, and set the blue cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container white rounded top, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container white rounded top, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo container white rounded top>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo container white rounded top, then place the blue cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the oval light blue shampoo container>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the oval light blue shampoo container>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container white rounded top>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo container white rounded top, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the oval light blue shampoo container, and set it on the light gray coaster.",
+    "Grab the blue cup, route it around <the smooth bottle containing shampoo>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container white rounded top>, and place the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the smooth bottle containing shampoo, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the smooth bottle containing shampoo, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the smooth bottle containing shampoo, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the smooth bottle containing shampoo>, and place it on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container white rounded top, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo container white rounded top>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container white rounded top>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the smooth bottle containing shampoo, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the smooth bottle containing shampoo, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container white rounded top>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the smooth bottle containing shampoo>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the oval light blue shampoo container, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the oval light blue shampoo container, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the oval light blue shampoo container, and place it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the oval light blue shampoo container>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the oval light blue shampoo container, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo container white rounded top>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the oval light blue shampoo container>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the oval light blue shampoo container>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo container white rounded top, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container white rounded top, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the smooth bottle containing shampoo>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the oval light blue shampoo container>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the oval light blue shampoo container, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth bottle containing shampoo, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container white rounded top, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container white rounded top, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the smooth bottle containing shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container white rounded top>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container white rounded top>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth bottle containing shampoo>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the smooth bottle containing shampoo, then set the small smooth cup down on the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode57.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode57.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a44bed02a2a7370a8c9ca990ec79a0946aa3402
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode57.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the smooth blue cup for liquids, avoid the medium shampoo container along the way, and place the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Guide the medium blue cylindrical cup with the arm around <the shampoo bottle with rectangular base> and onto <the flat surface gray wooden coaster>.",
+    "With an arm, bring the cup for holding liquids over to <the flat round wooden coaster> and keep clear of <the bottle with yellow cap>.",
+    "Move the blue rounded-bottom cup to the light gray round grainy coaster without crossing the white bottle with golden accents, then release the blue rounded-bottom cup.",
+    "Use an arm to lift the cup with smooth plastic surface, keep distance from <the bottle for shampoo with glossy finish>, and set the cup with smooth plastic surface on <the wooden coaster>.",
+    "Use an arm to take the cup for holding liquids around <the rectangular shampoo bottle with rounded top> and place the cup for holding liquids on <the round coaster with light streaks>.",
+    "Lift the blue rounded-bottom cup, keep clear of the shampoo bottle with rectangular base, and put the blue rounded-bottom cup down on the grainy texture coaster.",
+    "Move the medium-sized plastic blue cup onto <the round coaster with light streaks> and ensure the path stays away from <the plastic shampoo bottle with smooth surface>.",
+    "Use an arm: take the medium-sized plastic blue cup, avoid the bottle with yellow cap during the move, and drop it on the small coaster with grain texture.",
+    "Lift the rounded base blue cup, steer away from <the rectangular shampoo bottle with rounded top>, then place the rounded base blue cup on <the grainy texture coaster>.",
+    "Use an arm, take the cup with smooth plastic surface past the white shampoo bottle with golden top without nearing it, and rest the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "Secure the medium blue cylindrical cup, move it around the shampoo bottle, and place the medium blue cylindrical cup squarely on the flat surface gray wooden coaster.",
+    "Use an arm to move the blue rounded-bottom cup around the rectangular shampoo bottle with rounded top and rest the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Using an arm, carry the medium-sized plastic blue cup around the white shampoo bottle with golden top and place the medium-sized plastic blue cup onto the wooden coaster.",
+    "Lift the cylindrical light blue cup, guide it past the white bottle with golden accents, and rest the cylindrical light blue cup on the round coaster with light streaks.",
+    "Lift the blue rounded-bottom cup, guide it around <the rectangular shampoo bottle with rounded top>, then put the blue rounded-bottom cup onto <the light gray round grainy coaster>.",
+    "With an arm, lift the smooth blue cup for liquids, route past <the bottle for shampoo with glossy finish>, and drop the smooth blue cup for liquids onto <the grainy texture coaster>.",
+    "Move the light blue plastic cup to <the wooden coaster> while keeping the light blue plastic cup away from <the bottle for shampoo with glossy finish>, then release.",
+    "Lift the smooth blue drinking cup, arc around the white shampoo bottle, and place the smooth blue drinking cup squarely on the round coaster.",
+    "Take the cup for holding liquids, arc around <the white shampoo bottle>, and place the cup for holding liquids neatly on <the flat round wooden coaster>.",
+    "Take the smooth blue cup for liquids, swing wide of the rectangular shampoo bottle with rounded top, then rest the smooth blue cup for liquids on the coaster with circular shape.",
+    "Use the arm to move the medium-sized plastic blue cup past <the bottle for shampoo with glossy finish> and rest it on <the round coaster>.",
+    "Move the smooth blue cup for liquids to <the wooden coaster> while keeping its path away from <the medium shampoo container>.",
+    "Use an arm, pick the cylindrical light blue cup up, pass around the medium shampoo container, then place the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Pick up the rounded base blue cup, route it away from the smooth shampoo container, then set the rounded base blue cup on the grainy texture coaster.",
+    "Carry the smooth blue cup for liquids toward <the grainy texture coaster>, keeping clear of <the smooth shampoo container>, and set the smooth blue cup for liquids down.",
+    "Using an arm, move the smooth blue drinking cup to <the coaster made of smooth wood> while avoiding <the plastic shampoo bottle with smooth surface>, then release the smooth blue drinking cup.",
+    "Use an arm, keep the blue rounded-bottom cup from the shampoo bottle with rectangular base, and lower the blue rounded-bottom cup onto the light gray round grainy coaster.",
+    "Take the light blue plastic cup, keep its path away from the plastic shampoo bottle with smooth surface, and drop the light blue plastic cup on the light gray streaked wooden coaster.",
+    "Secure the cup for holding liquids, keep its path away from the rectangular shampoo bottle with rounded top, and set the cup for holding liquids on the coaster with circular shape.",
+    "Grab the medium-sized plastic blue cup, route around the plastic shampoo bottle with smooth surface, then lower the medium-sized plastic blue cup onto the smooth round palm-sized coaster.",
+    "Arm-lift the medium-sized plastic blue cup, swing around <the white shampoo bottle with golden top>, then place the medium-sized plastic blue cup onto <the round coaster with light streaks>.",
+    "Use the arm to lift the medium-sized plastic blue cup, pass the plastic shampoo bottle with smooth surface, and place the medium-sized plastic blue cup on the light gray streaked wooden coaster.",
+    "Use the arm to carry the medium blue cylindrical cup around the shampoo bottle with rectangular base, then rest the medium blue cylindrical cup on the small coaster with grain texture.",
+    "Move the cup with light blue color onto the light gray round grainy coaster while avoiding the white shampoo bottle, then let go of the cup with light blue color.",
+    "Use an arm to grab the smooth blue drinking cup, avoid the rectangular shampoo bottle with rounded top, and set the smooth blue drinking cup down on the grainy texture coaster.",
+    "Use an arm to lift the cup with light blue color, arc around the bottle for shampoo with glossy finish, and place the cup with light blue color atop the coaster made of smooth wood.",
+    "Slide the blue rounded-bottom cup toward the grainy texture coaster, detouring around the plastic shampoo bottle with smooth surface, then set the blue rounded-bottom cup down.",
+    "Lift the light blue plastic cup, go around the rectangular shampoo bottle with rounded top, and position the light blue plastic cup squarely on the small coaster with grain texture.",
+    "Using an arm, pick the cup with light blue color up, skirt the hand-held shampoo bottle, and place the cup with light blue color on the smooth round palm-sized coaster.",
+    "Pick up the plastic cup for drinks, keep its path away from <the white shampoo bottle>, and set the plastic cup for drinks on <the round coaster>.",
+    "Carry the medium-sized plastic blue cup toward <the coaster made of smooth wood>, keeping the path clear of <the white shampoo bottle>, then set down.",
+    "Use an arm: pick the cylindrical light blue cup up, skirt <the hand-held shampoo bottle>, then place the cylindrical light blue cup onto <the flat surface gray wooden coaster>.",
+    "Use an arm to move the cup for holding liquids toward the smooth round palm-sized coaster, keeping the cup for holding liquids clear of the medium shampoo container.",
+    "Move the cup with smooth plastic surface onto the flat round wooden coaster while avoiding the white bottle with golden accents, then let go of the cup with smooth plastic surface.",
+    "Grab the smooth blue cup for liquids, guide it away from the shampoo bottle, and set the smooth blue cup for liquids neatly on the flat surface gray wooden coaster.",
+    "Use an arm: grab the rounded base blue cup, avoid the white shampoo bottle on the way, then set the rounded base blue cup on the round coaster.",
+    "Take the rounded base blue cup, route it away from the white bottle with golden accents, and set the rounded base blue cup onto the flat surface gray wooden coaster.",
+    "Using an arm, carry the smooth blue drinking cup past <the white shampoo bottle with golden top> and place the smooth blue drinking cup squarely on <the small coaster with grain texture>.",
+    "With an arm, lift the plastic cup for drinks, guide it past the white shampoo bottle with golden top, and put the plastic cup for drinks on the grainy texture coaster.",
+    "Grab the cup with smooth plastic surface, swing it away from <the bottle for shampoo with glossy finish>, and place the cup with smooth plastic surface on <the light gray streaked wooden coaster>.",
+    "Pick up the medium blue cylindrical cup, guide it past the medium shampoo container, and drop the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Lift the smooth blue cup for liquids, carry it around the medium shampoo container, and place the smooth blue cup for liquids squarely on the coaster made of smooth wood.",
+    "Use an arm, take the smooth blue drinking cup, avoid <the shampoo bottle> on the way, and set on <the round coaster>.",
+    "Move the medium-sized plastic blue cup to the wooden coaster while avoiding the rectangular shampoo bottle with rounded top, then place the medium-sized plastic blue cup on the wooden coaster.",
+    "With an arm, pick the smooth blue cup for liquids up, bypass <the shampoo bottle>, then place the smooth blue cup for liquids on <the small coaster with grain texture>.",
+    "Pick up the smooth blue cup for liquids, keep clear of <the rectangular shampoo bottle with rounded top>, and drop the smooth blue cup for liquids onto <the round coaster with light streaks>.",
+    "Lift the cylindrical light blue cup, pass beside <the medium shampoo container> without contact, then place the cylindrical light blue cup onto <the wooden coaster>.",
+    "Move the cup with smooth plastic surface toward the coaster with circular shape without passing near the white bottle with golden accents, then set it down.",
+    "Take the light blue plastic cup, keep its path away from the shampoo bottle with rectangular base, and place the light blue plastic cup on the round coaster.",
+    "Use an arm: grasp the smooth blue cup for liquids, avoid <the white shampoo bottle>, and place the smooth blue cup for liquids on <the light gray round grainy coaster>.",
+    "With an arm, lift the cup with smooth plastic surface, keep it away from the plastic shampoo bottle with smooth surface, and drop it onto the grainy texture coaster.",
+    "With an arm, lift the plastic cup for drinks, avoid the smooth shampoo container, and place the plastic cup for drinks on the coaster with circular shape.",
+    "Use an arm to move the smooth blue drinking cup to the small coaster with grain texture, keeping the smooth blue drinking cup from bumping the bottle with yellow cap.",
+    "Lift the blue rounded-bottom cup, pass by the bottle for shampoo with glossy finish without contact, then place the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "With an arm, move the rounded base blue cup past the white shampoo bottle with golden top and place the rounded base blue cup on the grainy texture coaster.",
+    "Lift the blue rounded-bottom cup, route it away from the white shampoo bottle, then put the blue rounded-bottom cup squarely on the round coaster.",
+    "With an arm, lift the medium blue cylindrical cup, avoid the shampoo bottle, and set the medium blue cylindrical cup onto the flat round wooden coaster.",
+    "Take the rounded base blue cup, guide it away from <the plastic shampoo bottle with smooth surface>, and place the rounded base blue cup squarely on <the coaster made of smooth wood>.",
+    "Take the cylindrical light blue cup to the small coaster with grain texture while skirting the smooth shampoo container, then release the cylindrical light blue cup on the small coaster with grain texture.",
+    "Slide the smooth blue drinking cup over to <the wooden coaster> without passing near <the white bottle with golden accents>.",
+    "Using an arm, grasp the medium blue cylindrical cup, skirt the hand-held shampoo bottle, and place the medium blue cylindrical cup atop the grainy texture coaster.",
+    "Take the rounded base blue cup in the arm, route around <the bottle for shampoo with glossy finish>, and set it on <the wooden coaster>.",
+    "Pick the cylindrical light blue cup up, route it away from the white shampoo bottle with golden top, and drop the cylindrical light blue cup onto the coaster made of smooth wood.",
+    "Carry the medium blue cylindrical cup toward <the flat surface gray wooden coaster>, skirting <the plastic shampoo bottle with smooth surface>, and set the medium blue cylindrical cup down.",
+    "Using an arm, pick the rounded base blue cup up, skirt the bottle with yellow cap, and place the rounded base blue cup on the round coaster with light streaks.",
+    "Carry the medium-sized plastic blue cup toward the flat surface gray wooden coaster, keeping the medium-sized plastic blue cup away from the white bottle with golden accents, then set down.",
+    "Use an arm to bring the medium-sized plastic blue cup to the light gray round grainy coaster, keeping the medium-sized plastic blue cup clear of the white shampoo bottle with golden top.",
+    "With an arm, take the smooth blue cup for liquids, avoid the rectangular shampoo bottle with rounded top, and put the smooth blue cup for liquids on the flat round wooden coaster.",
+    "With an arm, lift the plastic cup for drinks, avoid <the hand-held shampoo bottle> on the way, and drop the plastic cup for drinks on <the light gray round grainy coaster>.",
+    "Pick up the blue rounded-bottom cup, avoid the bottle with yellow cap along the way, and place the blue rounded-bottom cup on the small coaster with grain texture.",
+    "Guide the cup with smooth plastic surface with the arm around <the bottle for shampoo with glossy finish> and onto <the light gray round grainy coaster>.",
+    "With an arm, bring the plastic cup for drinks over to <the flat round wooden coaster> and keep clear of <the shampoo bottle>.",
+    "Move the cylindrical light blue cup to the round coaster with light streaks without crossing the white bottle with golden accents, then release the cylindrical light blue cup.",
+    "Use an arm to lift the cylindrical light blue cup, keep distance from <the rectangular shampoo bottle with rounded top>, and set the cylindrical light blue cup on <the coaster made of smooth wood>.",
+    "Use an arm to take the medium blue cylindrical cup around <the shampoo bottle> and place the medium blue cylindrical cup on <the round coaster with light streaks>.",
+    "Lift the rounded base blue cup, keep clear of the white shampoo bottle with golden top, and put the rounded base blue cup down on the round coaster.",
+    "Move the cup with smooth plastic surface onto <the small coaster with grain texture> and ensure the path stays away from <the bottle with yellow cap>.",
+    "Use an arm: take the cup for holding liquids, avoid the shampoo bottle with rectangular base during the move, and drop it on the coaster made of smooth wood.",
+    "Lift the medium blue cylindrical cup, steer away from <the medium shampoo container>, then place the medium blue cylindrical cup on <the small coaster with grain texture>.",
+    "Use an arm, take the blue rounded-bottom cup past the bottle with yellow cap without nearing it, and rest the blue rounded-bottom cup on the coaster with circular shape.",
+    "Secure the medium-sized plastic blue cup, move it around the bottle for shampoo with glossy finish, and place the medium-sized plastic blue cup squarely on the light gray round grainy coaster.",
+    "Use an arm to move the cup with light blue color around the shampoo bottle with rectangular base and rest the cup with light blue color on the coaster made of smooth wood.",
+    "Using an arm, carry the cylindrical light blue cup around the hand-held shampoo bottle and place the cylindrical light blue cup onto the grainy texture coaster.",
+    "Lift the cylindrical light blue cup, guide it past the white bottle with golden accents, and rest the cylindrical light blue cup on the round coaster with light streaks.",
+    "Lift the medium-sized plastic blue cup, guide it around <the shampoo bottle>, then put the medium-sized plastic blue cup onto <the smooth round palm-sized coaster>.",
+    "With an arm, lift the cup with light blue color, route past <the white bottle with golden accents>, and drop the cup with light blue color onto <the wooden coaster>.",
+    "Move the cup for holding liquids to <the round coaster with light streaks> while keeping the cup for holding liquids away from <the white bottle with golden accents>, then release.",
+    "Lift the light blue plastic cup, arc around the shampoo bottle with rectangular base, and place the light blue plastic cup squarely on the coaster made of smooth wood.",
+    "Take the cup with smooth plastic surface, arc around <the medium shampoo container>, and place the cup with smooth plastic surface neatly on <the smooth round palm-sized coaster>."
+  ],
+  "unseen": [
+    "Grab the handheld round blue cup, carry it around the white plastic shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the white plastic shampoo bottle, and set it on the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the medium-sized shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the white plastic shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the medium-sized shampoo bottle, and place it on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the white plastic shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the medium-sized shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the medium-sized shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the medium-sized shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, steer it around the medium-sized shampoo bottle, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the medium-sized shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the medium-sized shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle with rounded yellow cap, and set it on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the medium-sized shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the white plastic shampoo bottle>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the medium-sized shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the white plastic shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the white plastic shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the medium-sized shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the medium-sized shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white plastic shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the medium-sized shampoo bottle, and set it on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with rounded yellow cap, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the white plastic shampoo bottle, and place it on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the medium-sized shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the medium-sized shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with rounded yellow cap>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the white plastic shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the medium-sized shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the medium-sized shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the white plastic shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the medium-sized shampoo bottle, and set it on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the medium-sized shampoo bottle, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the white plastic shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the white plastic shampoo bottle>, and set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the medium-sized shampoo bottle>, and place the small smooth cup on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the white plastic shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the white plastic shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with rounded yellow cap, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the white plastic shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white plastic shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white plastic shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the white plastic shampoo bottle>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the white plastic shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the white plastic shampoo bottle, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the medium-sized shampoo bottle, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the white plastic shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the white plastic shampoo bottle, and set it on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the white plastic shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with rounded yellow cap, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the white plastic shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with rounded yellow cap>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white plastic shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with rounded yellow cap>, and place the small smooth cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with rounded yellow cap, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the medium-sized shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode58.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode58.json
new file mode 100644
index 0000000000000000000000000000000000000000..78287e1059f6f13ddcdaaf23547077af4d08ac2e
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode58.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm to move the cylindrical light blue cup around the medium shampoo container and rest the cylindrical light blue cup on the coaster made of smooth wood.",
+    "With an arm, lift the light blue plastic cup, avoid the rectangular shampoo bottle with rounded top, and place the light blue plastic cup on the flat round wooden coaster.",
+    "Use an arm to take the cup with smooth plastic surface around <the hand-held shampoo bottle> and place the cup with smooth plastic surface on <the light gray round grainy coaster>.",
+    "Use the arm to move the blue rounded-bottom cup past <the medium shampoo container> and rest it on <the flat round wooden coaster>.",
+    "Take the cup with light blue color, route it away from the medium shampoo container, and set the cup with light blue color onto the flat round wooden coaster.",
+    "Take the cylindrical light blue cup, keep its path away from the rectangular shampoo bottle with rounded top, and place the cylindrical light blue cup on the round coaster.",
+    "Grab the blue rounded-bottom cup, swing it away from <the bottle with yellow cap>, and place the blue rounded-bottom cup on <the flat round wooden coaster>.",
+    "With an arm, lift the cup for holding liquids, avoid <the shampoo bottle> on the way, and drop the cup for holding liquids on <the light gray round grainy coaster>.",
+    "Use the arm to carry the rounded base blue cup around the medium shampoo container, then rest the rounded base blue cup on the grainy texture coaster.",
+    "Use an arm to move the smooth blue drinking cup to the light gray round grainy coaster, keeping the smooth blue drinking cup from bumping the hand-held shampoo bottle.",
+    "Use an arm: pick the cup for holding liquids up, skirt <the white shampoo bottle with golden top>, then place the cup for holding liquids onto <the flat surface gray wooden coaster>.",
+    "Carry the smooth blue cup for liquids toward <the light gray round grainy coaster>, keeping clear of <the white bottle with golden accents>, and set the smooth blue cup for liquids down.",
+    "Lift the light blue plastic cup, pass by the white shampoo bottle with golden top without contact, then place the light blue plastic cup on the wooden coaster.",
+    "Using an arm, pick the light blue plastic cup up, skirt the medium shampoo container, and place the light blue plastic cup on the coaster made of smooth wood.",
+    "Using an arm, pick the plastic cup for drinks up, skirt the shampoo bottle, and place the plastic cup for drinks on the smooth round palm-sized coaster.",
+    "Using an arm, carry the rounded base blue cup past <the smooth shampoo container> and place the rounded base blue cup squarely on <the wooden coaster>.",
+    "Use an arm, take the medium-sized plastic blue cup, avoid <the white bottle with golden accents> on the way, and set on <the small coaster with grain texture>.",
+    "Take the cup with smooth plastic surface, keep its path away from the bottle with yellow cap, and drop the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Grab the light blue plastic cup, route around the white bottle with golden accents, then lower the light blue plastic cup onto the round coaster with light streaks.",
+    "Carry the medium-sized plastic blue cup toward the coaster with circular shape, keeping the medium-sized plastic blue cup away from the smooth shampoo container, then set down.",
+    "Pick up the cup with smooth plastic surface, route it away from the plastic shampoo bottle with smooth surface, then set the cup with smooth plastic surface on the round coaster.",
+    "Carry the cup with smooth plastic surface toward <the flat round wooden coaster>, keeping the path clear of <the bottle for shampoo with glossy finish>, then set down.",
+    "With an arm, take the plastic cup for drinks, avoid the rectangular shampoo bottle with rounded top, and put the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Use an arm to lift the blue rounded-bottom cup, arc around the hand-held shampoo bottle, and place the blue rounded-bottom cup atop the wooden coaster.",
+    "Use an arm to bring the cup with smooth plastic surface to the round coaster with light streaks, keeping the cup with smooth plastic surface clear of the shampoo bottle with rectangular base.",
+    "Use an arm to grab the cup for holding liquids, avoid the rectangular shampoo bottle with rounded top, and set the cup for holding liquids down on the round coaster with light streaks.",
+    "Lift the cylindrical light blue cup, carry it around the white shampoo bottle, and place the cylindrical light blue cup squarely on the round coaster with light streaks.",
+    "Carry the blue rounded-bottom cup toward <the round coaster>, skirting <the bottle with yellow cap>, and set the blue rounded-bottom cup down.",
+    "Use an arm to move the cup with light blue color toward the wooden coaster, keeping the cup with light blue color clear of the hand-held shampoo bottle.",
+    "Lift the plastic cup for drinks, go around the bottle for shampoo with glossy finish, and position the plastic cup for drinks squarely on the flat surface gray wooden coaster.",
+    "Pick the smooth blue cup for liquids up, route it away from the shampoo bottle, and drop the smooth blue cup for liquids onto the grainy texture coaster.",
+    "Pick up the plastic cup for drinks, keep its path away from <the rectangular shampoo bottle with rounded top>, and set the plastic cup for drinks on <the flat round wooden coaster>.",
+    "Use an arm: grasp the medium blue cylindrical cup, avoid <the shampoo bottle>, and place the medium blue cylindrical cup on <the smooth round palm-sized coaster>.",
+    "With an arm, lift the smooth blue cup for liquids, keep it away from the medium shampoo container, and drop it onto the flat round wooden coaster.",
+    "Use an arm: grab the medium blue cylindrical cup, avoid the hand-held shampoo bottle on the way, then set the medium blue cylindrical cup on the round coaster with light streaks.",
+    "With an arm, lift the blue rounded-bottom cup, route past <the white bottle with golden accents>, and drop the blue rounded-bottom cup onto <the light gray streaked wooden coaster>.",
+    "With an arm, bring the rounded base blue cup over to <the coaster with circular shape> and keep clear of <the plastic shampoo bottle with smooth surface>.",
+    "Pick up the cup with smooth plastic surface, avoid the medium shampoo container along the way, and place the cup with smooth plastic surface on the round coaster.",
+    "Move the blue rounded-bottom cup to <the coaster with circular shape> while keeping its path away from <the rectangular shampoo bottle with rounded top>.",
+    "Take the blue rounded-bottom cup in the arm, route around <the white shampoo bottle>, and set it on <the light gray streaked wooden coaster>.",
+    "Using an arm, carry the smooth blue drinking cup around the white shampoo bottle and place the smooth blue drinking cup onto the coaster with circular shape.",
+    "Grab the cup with smooth plastic surface, guide it away from the white bottle with golden accents, and set the cup with smooth plastic surface neatly on the small coaster with grain texture.",
+    "Lift the plastic cup for drinks, keep clear of the plastic shampoo bottle with smooth surface, and put the plastic cup for drinks down on the round coaster with light streaks.",
+    "Slide the cup with smooth plastic surface over to <the round coaster> without passing near <the white shampoo bottle>.",
+    "Use an arm, keep the medium-sized plastic blue cup from the white shampoo bottle with golden top, and lower the medium-sized plastic blue cup onto the wooden coaster.",
+    "Move the light blue plastic cup onto <the round coaster> and ensure the path stays away from <the medium shampoo container>.",
+    "Use an arm: take the medium-sized plastic blue cup, avoid the smooth shampoo container during the move, and drop it on the round coaster.",
+    "Take the medium-sized plastic blue cup to the wooden coaster while skirting the medium shampoo container, then release the medium-sized plastic blue cup on the wooden coaster.",
+    "Lift the smooth blue drinking cup, guide it around <the white shampoo bottle with golden top>, then put the smooth blue drinking cup onto <the round coaster>.",
+    "Use an arm, pick the cup for holding liquids up, pass around the shampoo bottle, then place the cup for holding liquids on the light gray round grainy coaster.",
+    "Move the cylindrical light blue cup to the small coaster with grain texture while avoiding the rectangular shampoo bottle with rounded top, then place the cylindrical light blue cup on the small coaster with grain texture.",
+    "Use an arm to lift the light blue plastic cup, keep distance from <the shampoo bottle with rectangular base>, and set the light blue plastic cup on <the wooden coaster>.",
+    "Use the arm to lift the cup for holding liquids, pass the bottle for shampoo with glossy finish, and place the cup for holding liquids on the round coaster.",
+    "Lift the cup with light blue color, steer away from <the bottle with yellow cap>, then place the cup with light blue color on <the coaster with circular shape>.",
+    "Arm-lift the medium-sized plastic blue cup, swing around <the white shampoo bottle>, then place the medium-sized plastic blue cup onto <the smooth round palm-sized coaster>.",
+    "With an arm, move the cup for holding liquids past the white shampoo bottle and place the cup for holding liquids on the round coaster with light streaks.",
+    "Lift the medium blue cylindrical cup, pass beside <the smooth shampoo container> without contact, then place the medium blue cylindrical cup onto <the flat round wooden coaster>.",
+    "With an arm, lift the cylindrical light blue cup, avoid the white shampoo bottle, and set the cylindrical light blue cup onto the grainy texture coaster.",
+    "Lift the cup with light blue color, arc around the rectangular shampoo bottle with rounded top, and place the cup with light blue color squarely on the smooth round palm-sized coaster.",
+    "Take the medium-sized plastic blue cup, guide it away from <the white shampoo bottle>, and place the medium-sized plastic blue cup squarely on <the flat round wooden coaster>.",
+    "Lift the cup for holding liquids, route it away from the rectangular shampoo bottle with rounded top, then put the cup for holding liquids squarely on the grainy texture coaster.",
+    "Pick up the rounded base blue cup, guide it past the bottle with yellow cap, and drop the rounded base blue cup on the coaster with circular shape.",
+    "Move the plastic cup for drinks to the light gray round grainy coaster without crossing the rectangular shampoo bottle with rounded top, then release the plastic cup for drinks.",
+    "Secure the smooth blue cup for liquids, move it around the smooth shampoo container, and place the smooth blue cup for liquids squarely on the smooth round palm-sized coaster.",
+    "Move the medium blue cylindrical cup onto the flat round wooden coaster while avoiding the bottle for shampoo with glossy finish, then let go of the medium blue cylindrical cup.",
+    "Guide the smooth blue drinking cup with the arm around <the white bottle with golden accents> and onto <the flat round wooden coaster>.",
+    "With an arm, pick the cup for holding liquids up, bypass <the smooth shampoo container>, then place the cup for holding liquids on <the coaster made of smooth wood>.",
+    "Using an arm, grasp the blue rounded-bottom cup, skirt the white shampoo bottle with golden top, and place the blue rounded-bottom cup atop the flat surface gray wooden coaster.",
+    "Move the blue rounded-bottom cup toward the smooth round palm-sized coaster without passing near the rectangular shampoo bottle with rounded top, then set it down.",
+    "With an arm, lift the rounded base blue cup, guide it past the shampoo bottle, and put the rounded base blue cup on the small coaster with grain texture.",
+    "Using an arm, move the cup with smooth plastic surface to <the light gray round grainy coaster> while avoiding <the medium shampoo container>, then release the cup with smooth plastic surface.",
+    "Move the plastic cup for drinks onto the coaster with circular shape while avoiding the white bottle with golden accents, then let go of the plastic cup for drinks.",
+    "Use an arm, take the light blue plastic cup past the white bottle with golden accents without nearing it, and rest the light blue plastic cup on the flat round wooden coaster.",
+    "Pick up the rounded base blue cup, keep clear of <the bottle for shampoo with glossy finish>, and drop the rounded base blue cup onto <the light gray round grainy coaster>.",
+    "Lift the rounded base blue cup, guide it past the rectangular shampoo bottle with rounded top, and rest the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Take the plastic cup for drinks, arc around <the rectangular shampoo bottle with rounded top>, and place the plastic cup for drinks neatly on <the coaster made of smooth wood>.",
+    "Take the rounded base blue cup, swing wide of the shampoo bottle, then rest the rounded base blue cup on the grainy texture coaster.",
+    "Slide the smooth blue drinking cup toward the flat round wooden coaster, detouring around the plastic shampoo bottle with smooth surface, then set the smooth blue drinking cup down.",
+    "Secure the light blue plastic cup, keep its path away from the rectangular shampoo bottle with rounded top, and set the light blue plastic cup on the wooden coaster.",
+    "Move the cup with light blue color to <the small coaster with grain texture> while keeping the cup with light blue color away from <the plastic shampoo bottle with smooth surface>, then release.",
+    "Use an arm to move the smooth blue cup for liquids around the shampoo bottle and rest the smooth blue cup for liquids on the grainy texture coaster.",
+    "With an arm, lift the light blue plastic cup, avoid the shampoo bottle, and place the light blue plastic cup on the wooden coaster.",
+    "Use an arm to take the smooth blue cup for liquids around <the rectangular shampoo bottle with rounded top> and place the smooth blue cup for liquids on <the round coaster with light streaks>.",
+    "Use the arm to move the cup with smooth plastic surface past <the rectangular shampoo bottle with rounded top> and rest it on <the light gray streaked wooden coaster>.",
+    "Take the rounded base blue cup, route it away from the bottle with yellow cap, and set the rounded base blue cup onto the small coaster with grain texture.",
+    "Take the medium blue cylindrical cup, keep its path away from the white shampoo bottle with golden top, and place the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Grab the rounded base blue cup, swing it away from <the shampoo bottle with rectangular base>, and place the rounded base blue cup on <the wooden coaster>.",
+    "With an arm, lift the plastic cup for drinks, avoid <the white shampoo bottle with golden top> on the way, and drop the plastic cup for drinks on <the round coaster>.",
+    "Use the arm to carry the rounded base blue cup around the medium shampoo container, then rest the rounded base blue cup on the small coaster with grain texture.",
+    "Use an arm to move the cup for holding liquids to the coaster with circular shape, keeping the cup for holding liquids from bumping the white shampoo bottle with golden top.",
+    "Use an arm: pick the cup for holding liquids up, skirt <the bottle with yellow cap>, then place the cup for holding liquids onto <the flat round wooden coaster>.",
+    "Carry the smooth blue drinking cup toward <the flat surface gray wooden coaster>, keeping clear of <the white shampoo bottle with golden top>, and set the smooth blue drinking cup down.",
+    "Lift the cylindrical light blue cup, pass by the bottle for shampoo with glossy finish without contact, then place the cylindrical light blue cup on the wooden coaster.",
+    "Using an arm, pick the cup with light blue color up, skirt the plastic shampoo bottle with smooth surface, and place the cup with light blue color on the wooden coaster.",
+    "Using an arm, pick the medium blue cylindrical cup up, skirt the medium shampoo container, and place the medium blue cylindrical cup on the flat surface gray wooden coaster.",
+    "Using an arm, carry the cup with light blue color past <the rectangular shampoo bottle with rounded top> and place the cup with light blue color squarely on <the grainy texture coaster>.",
+    "Use an arm, take the cup with smooth plastic surface, avoid <the bottle with yellow cap> on the way, and set on <the smooth round palm-sized coaster>.",
+    "Take the cylindrical light blue cup, keep its path away from the white bottle with golden accents, and drop the cylindrical light blue cup on the round coaster.",
+    "Grab the cylindrical light blue cup, route around the shampoo bottle with rectangular base, then lower the cylindrical light blue cup onto the light gray streaked wooden coaster.",
+    "Carry the medium-sized plastic blue cup toward the grainy texture coaster, keeping the medium-sized plastic blue cup away from the shampoo bottle with rectangular base, then set down."
+  ],
+  "unseen": [
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the white plastic shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, route it around <the medium-sized shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the white plastic shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the medium-sized shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the medium-sized shampoo bottle, and place it on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the white plastic shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with rounded yellow cap, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the medium-sized shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep it clear of <the white plastic shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle with rounded yellow cap, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with rounded yellow cap, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the white plastic shampoo bottle>, and place it on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the white plastic shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the medium-sized shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the medium-sized shampoo bottle>, and set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with rounded yellow cap>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the medium-sized shampoo bottle, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with rounded yellow cap>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white plastic shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the white plastic shampoo bottle, and set it on the light gray coaster.",
+    "Grab the blue cup, steer it around the medium-sized shampoo bottle, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the white plastic shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, route it around <the white plastic shampoo bottle>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the medium-sized shampoo bottle, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the white plastic shampoo bottle>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the white plastic shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the white plastic shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the medium-sized shampoo bottle>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the white plastic shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the medium-sized shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the medium-sized shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the white plastic shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the medium-sized shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Grab the blue cup, carry it around the medium-sized shampoo bottle, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the medium-sized shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the white plastic shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with rounded yellow cap, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the white plastic shampoo bottle>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with rounded yellow cap, and set it on the light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the medium-sized shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the white plastic shampoo bottle, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the medium-sized shampoo bottle>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the white plastic shampoo bottle, and place it on the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the medium-sized shampoo bottle, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white plastic shampoo bottle>, and place the small smooth cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the white plastic shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the medium-sized shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the medium-sized shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with rounded yellow cap>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the medium-sized shampoo bottle>, and set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the medium-sized shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the medium-sized shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white plastic shampoo bottle, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo bottle with rounded yellow cap>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the white plastic shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with rounded yellow cap, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the white plastic shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep clear of the white plastic shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the white plastic shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode59.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode59.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6aedb6428ea2a73097f3ccdeb2cc23a31522a9d
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode59.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the smooth blue cup for liquids, swing it away from <the bottle with hexagonal blue cap>, and place the smooth blue cup for liquids on <the light gray round grainy coaster>.",
+    "Move the medium blue cylindrical cup to the flat surface gray wooden coaster without crossing the bottle with smooth surface, then release the medium blue cylindrical cup.",
+    "Use an arm to take the cup with light blue color around <the shampoo bottle with blue cap> and place the cup with light blue color on <the light gray streaked wooden coaster>.",
+    "Take the plastic cup for drinks, swing wide of the handheld shampoo container, then rest the plastic cup for drinks on the light gray round grainy coaster.",
+    "Use an arm, pick the blue rounded-bottom cup up, pass around the bottle with hexagonal blue cap, then place the blue rounded-bottom cup on the flat round wooden coaster.",
+    "Carry the smooth blue cup for liquids toward <the flat surface gray wooden coaster>, keeping clear of <the plastic shampoo bottle>, and set the smooth blue cup for liquids down.",
+    "Slide the plastic cup for drinks toward the light gray streaked wooden coaster, detouring around the plastic shampoo with orange label, then set the plastic cup for drinks down.",
+    "Take the plastic cup for drinks, arc around <the shampoo bottle with curved sides>, and place the plastic cup for drinks neatly on <the grainy texture coaster>.",
+    "Use an arm: grab the rounded base blue cup, avoid the bottle with smooth surface on the way, then set the rounded base blue cup on the round coaster with light streaks.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the blue top shampoo bottle, and set the blue rounded-bottom cup onto the grainy texture coaster.",
+    "With an arm, move the blue rounded-bottom cup past the plastic shampoo bottle and place the blue rounded-bottom cup on the flat round wooden coaster.",
+    "With an arm, take the plastic cup for drinks, avoid the white and blue shampoo container, and put the plastic cup for drinks on the small coaster with grain texture.",
+    "Use the arm to lift the cup with light blue color, pass the bottle with smooth surface, and place the cup with light blue color on the coaster with circular shape.",
+    "Carry the cup with smooth plastic surface toward <the grainy texture coaster>, keeping the path clear of <the plastic shampoo with orange label>, then set down.",
+    "Take the rounded base blue cup, guide it away from <the white and blue shampoo container>, and place the rounded base blue cup squarely on <the coaster with circular shape>.",
+    "With an arm, lift the plastic cup for drinks, route past <the medium-sized white plastic shampoo>, and drop the plastic cup for drinks onto <the round coaster>.",
+    "Use an arm to bring the medium blue cylindrical cup to the round coaster, keeping the medium blue cylindrical cup clear of the plastic shampoo bottle.",
+    "Lift the blue rounded-bottom cup, guide it around <the medium-sized white plastic shampoo>, then put the blue rounded-bottom cup onto <the flat surface gray wooden coaster>.",
+    "Pick the smooth blue drinking cup up, route it away from the medium-sized white plastic shampoo, and drop the smooth blue drinking cup onto the coaster with circular shape.",
+    "Use an arm to move the light blue plastic cup around the blue top shampoo bottle and rest the light blue plastic cup on the flat round wooden coaster.",
+    "Pick up the medium blue cylindrical cup, keep clear of <the curved shampoo bottle>, and drop the medium blue cylindrical cup onto <the light gray round grainy coaster>.",
+    "Slide the smooth blue drinking cup over to <the light gray streaked wooden coaster> without passing near <the white and blue shampoo container>.",
+    "Pick up the cup with smooth plastic surface, guide it past the plastic shampoo bottle, and drop the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Take the rounded base blue cup in the arm, route around <the shampoo bottle with curved sides>, and set it on <the small coaster with grain texture>.",
+    "Secure the cylindrical light blue cup, keep its path away from the white shampoo bottle, and set the cylindrical light blue cup on the flat round wooden coaster.",
+    "Use an arm to grab the plastic cup for drinks, avoid the plastic shampoo with orange label, and set the plastic cup for drinks down on the grainy texture coaster.",
+    "With an arm, lift the medium blue cylindrical cup, avoid <the medium-sized white plastic shampoo> on the way, and drop the medium blue cylindrical cup on <the light gray streaked wooden coaster>.",
+    "Use an arm to lift the cup for holding liquids, arc around the curved shampoo bottle, and place the cup for holding liquids atop the grainy texture coaster.",
+    "Take the rounded base blue cup to the coaster made of smooth wood while skirting the bottle with smooth surface, then release the rounded base blue cup on the coaster made of smooth wood.",
+    "Move the medium blue cylindrical cup onto <the wooden coaster> and ensure the path stays away from <the medium-sized white plastic shampoo>.",
+    "Take the medium blue cylindrical cup, keep its path away from the plastic shampoo bottle, and drop the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Pick up the smooth blue cup for liquids, route it away from the medium-sized white plastic shampoo, then set the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Use an arm to move the medium-sized plastic blue cup to the flat surface gray wooden coaster, keeping the medium-sized plastic blue cup from bumping the medium-sized white plastic shampoo.",
+    "Lift the cup for holding liquids, pass by the handheld shampoo container without contact, then place the cup for holding liquids on the light gray round grainy coaster.",
+    "Lift the cup with smooth plastic surface, route it away from the white and blue shampoo container, then put the cup with smooth plastic surface squarely on the round coaster with light streaks.",
+    "Using an arm, grasp the medium blue cylindrical cup, skirt the plastic shampoo bottle, and place the medium blue cylindrical cup atop the round coaster.",
+    "Lift the light blue plastic cup, arc around the shampoo bottle with curved sides, and place the light blue plastic cup squarely on the round coaster.",
+    "With an arm, bring the smooth blue cup for liquids over to <the grainy texture coaster> and keep clear of <the handheld shampoo container>.",
+    "With an arm, lift the medium blue cylindrical cup, guide it past the blue top shampoo bottle, and put the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Take the medium blue cylindrical cup, route it away from the bottle with hexagonal blue cap, and set the medium blue cylindrical cup onto the coaster made of smooth wood.",
+    "Carry the cup with light blue color toward the coaster with circular shape, keeping the cup with light blue color away from the blue top shampoo bottle, then set down.",
+    "Secure the medium blue cylindrical cup, move it around the curved shampoo bottle, and place the medium blue cylindrical cup squarely on the flat round wooden coaster.",
+    "Use an arm to move the cup with light blue color toward the small coaster with grain texture, keeping the cup with light blue color clear of the curved shampoo bottle.",
+    "Lift the smooth blue cup for liquids, steer away from <the curved shampoo bottle>, then place the smooth blue cup for liquids on <the grainy texture coaster>.",
+    "Move the rounded base blue cup to the coaster made of smooth wood while avoiding the plastic shampoo with orange label, then place the rounded base blue cup on the coaster made of smooth wood.",
+    "Use an arm: take the medium blue cylindrical cup, avoid the blue top shampoo bottle during the move, and drop it on the coaster made of smooth wood.",
+    "Arm-lift the cylindrical light blue cup, swing around <the medium-sized white plastic shampoo>, then place the cylindrical light blue cup onto <the round coaster>.",
+    "With an arm, pick the smooth blue drinking cup up, bypass <the bottle with smooth surface>, then place the smooth blue drinking cup on <the round coaster>.",
+    "Lift the rounded base blue cup, keep clear of the plastic shampoo with orange label, and put the rounded base blue cup down on the wooden coaster.",
+    "With an arm, lift the rounded base blue cup, avoid the bottle with hexagonal blue cap, and place the rounded base blue cup on the coaster with circular shape.",
+    "Use an arm, take the medium blue cylindrical cup past the white and blue shampoo container without nearing it, and rest the medium blue cylindrical cup on the round coaster.",
+    "Using an arm, pick the cup with light blue color up, skirt the white shampoo bottle, and place the cup with light blue color on the round coaster.",
+    "Lift the smooth blue drinking cup, carry it around the medium-sized white plastic shampoo, and place the smooth blue drinking cup squarely on the small coaster with grain texture.",
+    "Use an arm: pick the rounded base blue cup up, skirt <the plastic shampoo bottle>, then place the rounded base blue cup onto <the coaster with circular shape>.",
+    "Use an arm, keep the cup with smooth plastic surface from the white and blue shampoo container, and lower the cup with smooth plastic surface onto the small coaster with grain texture.",
+    "Using an arm, carry the cylindrical light blue cup around the blue top shampoo bottle and place the cylindrical light blue cup onto the light gray round grainy coaster.",
+    "Grab the medium-sized plastic blue cup, route around the handheld shampoo container, then lower the medium-sized plastic blue cup onto the smooth round palm-sized coaster.",
+    "Use the arm to carry the smooth blue drinking cup around the white and blue shampoo container, then rest the smooth blue drinking cup on the wooden coaster.",
+    "Lift the blue rounded-bottom cup, guide it past the handheld shampoo container, and rest the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Using an arm, move the medium blue cylindrical cup to <the flat round wooden coaster> while avoiding <the blue top shampoo bottle>, then release the medium blue cylindrical cup.",
+    "Use an arm: grasp the medium-sized plastic blue cup, avoid <the bottle with smooth surface>, and place the medium-sized plastic blue cup on <the coaster with circular shape>.",
+    "Using an arm, pick the light blue plastic cup up, skirt the white shampoo bottle, and place the light blue plastic cup on the coaster with circular shape.",
+    "Pick up the plastic cup for drinks, avoid the plastic shampoo bottle along the way, and place the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Grab the smooth blue drinking cup, guide it away from the medium-sized white plastic shampoo, and set the smooth blue drinking cup neatly on the flat surface gray wooden coaster.",
+    "Guide the medium-sized plastic blue cup with the arm around <the plastic shampoo bottle> and onto <the coaster with circular shape>.",
+    "Pick up the blue rounded-bottom cup, keep its path away from <the shampoo bottle with blue cap>, and set the blue rounded-bottom cup on <the light gray streaked wooden coaster>.",
+    "Move the cup with light blue color to <the smooth round palm-sized coaster> while keeping the cup with light blue color away from <the shampoo bottle with curved sides>, then release.",
+    "Use an arm to lift the smooth blue cup for liquids, keep distance from <the white and blue shampoo container>, and set the smooth blue cup for liquids on <the grainy texture coaster>.",
+    "With an arm, lift the cylindrical light blue cup, keep it away from the white and blue shampoo container, and drop it onto the smooth round palm-sized coaster.",
+    "Using an arm, carry the light blue plastic cup past <the bottle with hexagonal blue cap> and place the light blue plastic cup squarely on <the flat surface gray wooden coaster>.",
+    "Lift the blue rounded-bottom cup, pass beside <the blue top shampoo bottle> without contact, then place the blue rounded-bottom cup onto <the round coaster>.",
+    "Carry the medium-sized plastic blue cup toward <the coaster with circular shape>, skirting <the white shampoo bottle>, and set the medium-sized plastic blue cup down.",
+    "Move the cup with light blue color toward the flat round wooden coaster without passing near the white shampoo bottle, then set it down.",
+    "Move the medium-sized plastic blue cup onto the wooden coaster while avoiding the bottle with hexagonal blue cap, then let go of the medium-sized plastic blue cup.",
+    "Take the plastic cup for drinks, keep its path away from the plastic shampoo bottle, and place the plastic cup for drinks on the flat round wooden coaster.",
+    "Use the arm to move the rounded base blue cup past <the white shampoo bottle> and rest it on <the smooth round palm-sized coaster>.",
+    "Use an arm, take the smooth blue drinking cup, avoid <the bottle with smooth surface> on the way, and set on <the flat surface gray wooden coaster>.",
+    "Lift the smooth blue cup for liquids, go around the white shampoo bottle, and position the smooth blue cup for liquids squarely on the grainy texture coaster.",
+    "Move the cylindrical light blue cup to <the round coaster> while keeping its path away from <the medium-sized white plastic shampoo>.",
+    "Move the medium-sized plastic blue cup onto the small coaster with grain texture while avoiding the blue top shampoo bottle, then let go of the medium-sized plastic blue cup.",
+    "Grab the medium blue cylindrical cup, swing it away from <the bottle with smooth surface>, and place the medium blue cylindrical cup on <the round coaster with light streaks>.",
+    "Move the blue rounded-bottom cup to the grainy texture coaster without crossing the blue top shampoo bottle, then release the blue rounded-bottom cup.",
+    "Use an arm to take the cylindrical light blue cup around <the medium-sized white plastic shampoo> and place the cylindrical light blue cup on <the round coaster with light streaks>.",
+    "Take the cup with smooth plastic surface, swing wide of the white and blue shampoo container, then rest the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "Use an arm, pick the cup with light blue color up, pass around the shampoo bottle with curved sides, then place the cup with light blue color on the coaster made of smooth wood.",
+    "Carry the cup with light blue color toward <the light gray streaked wooden coaster>, keeping clear of <the white and blue shampoo container>, and set the cup with light blue color down.",
+    "Slide the medium-sized plastic blue cup toward the coaster with circular shape, detouring around the shampoo bottle with blue cap, then set the medium-sized plastic blue cup down.",
+    "Take the medium-sized plastic blue cup, arc around <the shampoo bottle with blue cap>, and place the medium-sized plastic blue cup neatly on <the light gray streaked wooden coaster>.",
+    "Use an arm: grab the cylindrical light blue cup, avoid the bottle with hexagonal blue cap on the way, then set the cylindrical light blue cup on the flat round wooden coaster.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid the bottle with hexagonal blue cap, and set the medium-sized plastic blue cup onto the flat surface gray wooden coaster.",
+    "With an arm, move the rounded base blue cup past the curved shampoo bottle and place the rounded base blue cup on the light gray streaked wooden coaster.",
+    "With an arm, take the cup with smooth plastic surface, avoid the medium-sized white plastic shampoo, and put the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Use the arm to lift the medium blue cylindrical cup, pass the curved shampoo bottle, and place the medium blue cylindrical cup on the wooden coaster.",
+    "Carry the plastic cup for drinks toward <the light gray streaked wooden coaster>, keeping the path clear of <the bottle with hexagonal blue cap>, then set down.",
+    "Take the rounded base blue cup, guide it away from <the blue top shampoo bottle>, and place the rounded base blue cup squarely on <the coaster made of smooth wood>.",
+    "With an arm, lift the blue rounded-bottom cup, route past <the shampoo bottle with curved sides>, and drop the blue rounded-bottom cup onto <the light gray round grainy coaster>.",
+    "Use an arm to bring the cylindrical light blue cup to the flat surface gray wooden coaster, keeping the cylindrical light blue cup clear of the medium-sized white plastic shampoo.",
+    "Lift the cup for holding liquids, guide it around <the bottle with smooth surface>, then put the cup for holding liquids onto <the smooth round palm-sized coaster>.",
+    "Pick the blue rounded-bottom cup up, route it away from the white shampoo bottle, and drop the blue rounded-bottom cup onto the light gray round grainy coaster.",
+    "Use an arm to move the light blue plastic cup around the white and blue shampoo container and rest the light blue plastic cup on the grainy texture coaster."
+  ],
+  "unseen": [
+    "Use an arm to grab the handheld round blue cup, steer around the white shampoo with orange design, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the blue-capped shampoo bottle>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container in white and blue, and set it on the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the blue-capped shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the blue-capped shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo container in white and blue, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the blue-capped shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the white shampoo with orange design>, and set the small smooth cup on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the blue-capped shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the shampoo container in white and blue, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container in white and blue, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the white shampoo with orange design>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white shampoo with orange design, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the blue-capped shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the white shampoo with orange design, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the blue-capped shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the blue-capped shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the blue-capped shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the white shampoo with orange design>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the blue-capped shampoo bottle>, and set the small smooth cup on <the light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container in white and blue>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo container in white and blue, then set the small smooth cup down on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the blue-capped shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container in white and blue>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the blue-capped shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container in white and blue, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the blue-capped shampoo bottle, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container in white and blue, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo container in white and blue, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the white shampoo with orange design>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the white shampoo with orange design>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the white shampoo with orange design>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo container in white and blue>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the white shampoo with orange design, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container in white and blue, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo container in white and blue>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container in white and blue, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the white shampoo with orange design>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container in white and blue, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the white shampoo with orange design, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container in white and blue, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the white shampoo with orange design, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container in white and blue>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container in white and blue>, and set the blue cup on <the light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the white shampoo with orange design>, then set the blue cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the blue-capped shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the white shampoo with orange design, then set the small smooth cup down on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo container in white and blue, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, route it around <the white shampoo with orange design>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo container in white and blue, and set it on the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container in white and blue, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container in white and blue, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo container in white and blue, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container in white and blue>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the white shampoo with orange design>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the shampoo container in white and blue, then set the blue cup down on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo container in white and blue, then place the blue cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo container in white and blue>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container in white and blue, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container in white and blue>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the white shampoo with orange design, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the blue-capped shampoo bottle, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the blue-capped shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the white shampoo with orange design, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the blue-capped shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the blue-capped shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the blue cup, avoid <the shampoo container in white and blue>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the white shampoo with orange design>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the white shampoo with orange design, then set the small smooth cup down on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the white shampoo with orange design, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the white shampoo with orange design>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container in white and blue>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the blue-capped shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the blue-capped shampoo bottle, and place the blue cup on the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode6.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8261273ee0f72987d0b82cfe1849172823efe5c
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm to lift the blue rounded-bottom cup, arc around the hand-sized shampoo bottle, and place the blue rounded-bottom cup atop the round coaster with light streaks.",
+    "Pick up the blue rounded-bottom cup, route it away from the white body pink flip cap bottle, then set the blue rounded-bottom cup on the light gray round grainy coaster.",
+    "Slide the blue rounded-bottom cup toward the grainy texture coaster, detouring around the plastic shampoo container, then set the blue rounded-bottom cup down.",
+    "Carry the smooth blue drinking cup toward <the smooth round palm-sized coaster>, keeping the path clear of <the pink-topped shampoo bottle>, then set down.",
+    "Pick the light blue plastic cup up, route it away from the glossy white shampoo bottle, and drop the light blue plastic cup onto the light gray round grainy coaster.",
+    "Using an arm, carry the smooth blue cup for liquids around the medium shampoo bottle and place the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Move the cup for holding liquids toward the coaster with circular shape without passing near the oval-shaped shampoo bottle, then set it down.",
+    "Pick up the cup with smooth plastic surface, guide it past the medium shampoo bottle, and drop the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "With an arm, lift the rounded base blue cup, keep it away from the smooth white shampoo dispenser, and drop it onto the light gray round grainy coaster.",
+    "Take the rounded base blue cup, keep its path away from the medium shampoo bottle, and place the rounded base blue cup on the coaster made of smooth wood.",
+    "Take the blue rounded-bottom cup, swing wide of the oval-shaped shampoo bottle, then rest the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "Use an arm to lift the light blue plastic cup, keep distance from <the shampoo bottle with pink cap>, and set the light blue plastic cup on <the round coaster>.",
+    "Use an arm to bring the plastic cup for drinks to the flat round wooden coaster, keeping the plastic cup for drinks clear of the medium shampoo bottle.",
+    "Move the blue rounded-bottom cup to the small coaster with grain texture while avoiding the medium shampoo bottle, then place the blue rounded-bottom cup on the small coaster with grain texture.",
+    "Lift the light blue plastic cup, steer away from <the smooth white shampoo dispenser>, then place the light blue plastic cup on <the coaster with circular shape>.",
+    "With an arm, pick the medium blue cylindrical cup up, bypass <the white shampoo bottle>, then place the medium blue cylindrical cup on <the flat round wooden coaster>.",
+    "Lift the smooth blue drinking cup, keep clear of the smooth white shampoo dispenser, and put the smooth blue drinking cup down on the round coaster.",
+    "Use an arm, pick the cup with smooth plastic surface up, pass around the white shampoo bottle, then place the cup with smooth plastic surface on the grainy texture coaster.",
+    "Use an arm: pick the rounded base blue cup up, skirt <the white shampoo bottle>, then place the rounded base blue cup onto <the wooden coaster>.",
+    "Secure the smooth blue cup for liquids, move it around the glossy white shampoo bottle, and place the smooth blue cup for liquids squarely on the flat surface gray wooden coaster.",
+    "Using an arm, grasp the smooth blue cup for liquids, skirt the shampoo bottle with pink cap, and place the smooth blue cup for liquids atop the small coaster with grain texture.",
+    "Pick up the cup for holding liquids, keep its path away from <the shampoo bottle with pink cap>, and set the cup for holding liquids on <the wooden coaster>.",
+    "Pick up the cylindrical light blue cup, avoid the plastic shampoo container along the way, and place the cylindrical light blue cup on the wooden coaster.",
+    "Lift the cup for holding liquids, arc around the plastic shampoo container, and place the cup for holding liquids squarely on the coaster made of smooth wood.",
+    "Pick up the cup for holding liquids, keep clear of <the oval-shaped shampoo bottle>, and drop the cup for holding liquids onto <the flat round wooden coaster>.",
+    "Lift the smooth blue cup for liquids, pass beside <the white body pink flip cap bottle> without contact, then place the smooth blue cup for liquids onto <the grainy texture coaster>.",
+    "With an arm, lift the smooth blue drinking cup, avoid <the shampoo dispenser with flat base> on the way, and drop the smooth blue drinking cup on <the smooth round palm-sized coaster>.",
+    "With an arm, move the medium-sized plastic blue cup past the white shampoo bottle and place the medium-sized plastic blue cup on the round coaster.",
+    "Using an arm, pick the light blue plastic cup up, skirt the hand-sized shampoo bottle, and place the light blue plastic cup on the flat surface gray wooden coaster.",
+    "Use the arm to lift the light blue plastic cup, pass the shampoo dispenser with flat base, and place the light blue plastic cup on the round coaster with light streaks.",
+    "Guide the smooth blue cup for liquids with the arm around <the white body pink flip cap bottle> and onto <the smooth round palm-sized coaster>.",
+    "Carry the cup with smooth plastic surface toward <the light gray streaked wooden coaster>, keeping clear of <the smooth white shampoo dispenser>, and set the cup with smooth plastic surface down.",
+    "With an arm, lift the cup for holding liquids, avoid the pink-topped shampoo bottle, and place the cup for holding liquids on the light gray round grainy coaster.",
+    "Slide the medium-sized plastic blue cup over to <the small coaster with grain texture> without passing near <the pink-topped shampoo bottle>.",
+    "Take the smooth blue cup for liquids, guide it away from <the hand-sized shampoo bottle>, and place the smooth blue cup for liquids squarely on <the smooth round palm-sized coaster>.",
+    "Move the cylindrical light blue cup to the coaster made of smooth wood without crossing the shampoo dispenser with flat base, then release the cylindrical light blue cup.",
+    "Use the arm to move the blue rounded-bottom cup past <the hand-sized shampoo bottle> and rest it on <the wooden coaster>.",
+    "Take the cup with light blue color, keep its path away from the smooth white shampoo dispenser, and drop the cup with light blue color on the flat surface gray wooden coaster.",
+    "Move the rounded base blue cup onto the round coaster with light streaks while avoiding the shampoo dispenser with flat base, then let go of the rounded base blue cup.",
+    "Using an arm, pick the cup for holding liquids up, skirt the shampoo bottle with pink cap, and place the cup for holding liquids on the coaster with circular shape.",
+    "Carry the smooth blue cup for liquids toward the grainy texture coaster, keeping the smooth blue cup for liquids away from the medium shampoo bottle, then set down.",
+    "Use an arm: grasp the plastic cup for drinks, avoid <the hand-sized shampoo bottle>, and place the plastic cup for drinks on <the coaster with circular shape>.",
+    "Use an arm to move the cup with smooth plastic surface to the flat surface gray wooden coaster, keeping the cup with smooth plastic surface from bumping the medium shampoo bottle.",
+    "Lift the smooth blue cup for liquids, go around the white shampoo bottle, and position the smooth blue cup for liquids squarely on the small coaster with grain texture.",
+    "Grab the blue rounded-bottom cup, swing it away from <the shampoo bottle with pink cap>, and place the blue rounded-bottom cup on <the light gray round grainy coaster>.",
+    "Move the medium blue cylindrical cup onto the flat surface gray wooden coaster while avoiding the medium oval plastic shampoo container, then let go of the medium blue cylindrical cup.",
+    "Using an arm, move the smooth blue cup for liquids to <the flat surface gray wooden coaster> while avoiding <the hand-sized shampoo bottle>, then release the smooth blue cup for liquids.",
+    "Use the arm to carry the medium-sized plastic blue cup around the pink-topped shampoo bottle, then rest the medium-sized plastic blue cup on the round coaster.",
+    "Use an arm, keep the smooth blue cup for liquids from the medium shampoo bottle, and lower the smooth blue cup for liquids onto the flat round wooden coaster.",
+    "Carry the medium-sized plastic blue cup toward <the small coaster with grain texture>, skirting <the medium shampoo bottle>, and set the medium-sized plastic blue cup down.",
+    "With an arm, lift the plastic cup for drinks, guide it past the hand-sized shampoo bottle, and put the plastic cup for drinks on the coaster with circular shape.",
+    "With an arm, take the plastic cup for drinks, avoid the medium shampoo bottle, and put the plastic cup for drinks on the small coaster with grain texture.",
+    "Arm-lift the light blue plastic cup, swing around <the medium oval plastic shampoo container>, then place the light blue plastic cup onto <the small coaster with grain texture>.",
+    "Take the light blue plastic cup, route it away from the oval-shaped shampoo bottle, and set the light blue plastic cup onto the wooden coaster.",
+    "Use an arm to move the rounded base blue cup around the smooth white shampoo dispenser and rest the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Lift the cup for holding liquids, pass by the medium shampoo bottle without contact, then place the cup for holding liquids on the coaster made of smooth wood.",
+    "Use an arm to move the smooth blue drinking cup toward the light gray round grainy coaster, keeping the smooth blue drinking cup clear of the medium shampoo bottle.",
+    "Lift the cylindrical light blue cup, guide it past the hand-sized shampoo bottle, and rest the cylindrical light blue cup on the round coaster with light streaks.",
+    "Lift the plastic cup for drinks, route it away from the glossy white shampoo bottle, then put the plastic cup for drinks squarely on the round coaster with light streaks.",
+    "Take the cup with light blue color to the coaster with circular shape while skirting the plastic shampoo container, then release the cup with light blue color on the coaster with circular shape.",
+    "Take the cylindrical light blue cup in the arm, route around <the oval-shaped shampoo bottle>, and set it on <the round coaster with light streaks>.",
+    "Use an arm: grab the smooth blue drinking cup, avoid the medium oval plastic shampoo container on the way, then set the smooth blue drinking cup on the flat surface gray wooden coaster.",
+    "Move the cup for holding liquids to <the round coaster with light streaks> while keeping the cup for holding liquids away from <the pink-topped shampoo bottle>, then release.",
+    "Lift the plastic cup for drinks, guide it around <the white shampoo bottle>, then put the plastic cup for drinks onto <the coaster made of smooth wood>.",
+    "Use an arm, take the cylindrical light blue cup past the shampoo dispenser with flat base without nearing it, and rest the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Move the medium-sized plastic blue cup to <the light gray round grainy coaster> while keeping its path away from <the oval-shaped shampoo bottle>.",
+    "Grab the blue rounded-bottom cup, guide it away from the white body pink flip cap bottle, and set the blue rounded-bottom cup neatly on the small coaster with grain texture.",
+    "With an arm, lift the smooth blue drinking cup, avoid the medium oval plastic shampoo container, and set the smooth blue drinking cup onto the flat round wooden coaster.",
+    "With an arm, bring the smooth blue cup for liquids over to <the smooth round palm-sized coaster> and keep clear of <the plastic shampoo container>.",
+    "Secure the plastic cup for drinks, keep its path away from the glossy white shampoo bottle, and set the plastic cup for drinks on the flat round wooden coaster.",
+    "Move the medium-sized plastic blue cup onto <the flat surface gray wooden coaster> and ensure the path stays away from <the white shampoo bottle>.",
+    "Grab the smooth blue cup for liquids, route around the shampoo dispenser with flat base, then lower the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Use an arm: take the cup with light blue color, avoid the medium oval plastic shampoo container during the move, and drop it on the flat surface gray wooden coaster.",
+    "Use an arm, take the cylindrical light blue cup, avoid <the glossy white shampoo bottle> on the way, and set on <the light gray streaked wooden coaster>.",
+    "Take the cup with smooth plastic surface, arc around <the shampoo bottle with pink cap>, and place the cup with smooth plastic surface neatly on <the coaster made of smooth wood>.",
+    "Use an arm to grab the medium-sized plastic blue cup, avoid the plastic shampoo container, and set the medium-sized plastic blue cup down on the light gray streaked wooden coaster.",
+    "Lift the rounded base blue cup, carry it around the shampoo bottle with pink cap, and place the rounded base blue cup squarely on the coaster with circular shape.",
+    "Using an arm, carry the light blue plastic cup past <the smooth white shampoo dispenser> and place the light blue plastic cup squarely on <the light gray round grainy coaster>.",
+    "With an arm, lift the light blue plastic cup, route past <the plastic shampoo container>, and drop the light blue plastic cup onto <the small coaster with grain texture>.",
+    "Use an arm to take the plastic cup for drinks around <the pink-topped shampoo bottle> and place the plastic cup for drinks on <the small coaster with grain texture>.",
+    "Use an arm to lift the medium blue cylindrical cup, arc around the oval-shaped shampoo bottle, and place the medium blue cylindrical cup atop the small coaster with grain texture.",
+    "Pick up the medium blue cylindrical cup, route it away from the oval-shaped shampoo bottle, then set the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Slide the cup with smooth plastic surface toward the flat round wooden coaster, detouring around the shampoo dispenser with flat base, then set the cup with smooth plastic surface down.",
+    "Carry the light blue plastic cup toward <the round coaster>, keeping the path clear of <the plastic shampoo container>, then set down.",
+    "Pick the medium blue cylindrical cup up, route it away from the plastic shampoo container, and drop the medium blue cylindrical cup onto the round coaster with light streaks.",
+    "Using an arm, carry the cylindrical light blue cup around the smooth white shampoo dispenser and place the cylindrical light blue cup onto the flat surface gray wooden coaster.",
+    "Move the cup for holding liquids toward the flat surface gray wooden coaster without passing near the plastic shampoo container, then set it down.",
+    "Pick up the medium-sized plastic blue cup, guide it past the shampoo bottle with pink cap, and drop the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "With an arm, lift the cylindrical light blue cup, keep it away from the hand-sized shampoo bottle, and drop it onto the coaster made of smooth wood.",
+    "Take the plastic cup for drinks, keep its path away from the shampoo dispenser with flat base, and place the plastic cup for drinks on the round coaster.",
+    "Take the plastic cup for drinks, swing wide of the white shampoo bottle, then rest the plastic cup for drinks on the light gray round grainy coaster.",
+    "Use an arm to lift the medium-sized plastic blue cup, keep distance from <the glossy white shampoo bottle>, and set the medium-sized plastic blue cup on <the wooden coaster>.",
+    "Use an arm to bring the smooth blue cup for liquids to the round coaster, keeping the smooth blue cup for liquids clear of the white body pink flip cap bottle.",
+    "Move the medium-sized plastic blue cup to the coaster with circular shape while avoiding the hand-sized shampoo bottle, then place the medium-sized plastic blue cup on the coaster with circular shape.",
+    "Lift the medium-sized plastic blue cup, steer away from <the plastic shampoo container>, then place the medium-sized plastic blue cup on <the coaster made of smooth wood>.",
+    "With an arm, pick the cylindrical light blue cup up, bypass <the smooth white shampoo dispenser>, then place the cylindrical light blue cup on <the smooth round palm-sized coaster>.",
+    "Lift the blue rounded-bottom cup, keep clear of the hand-sized shampoo bottle, and put the blue rounded-bottom cup down on the wooden coaster.",
+    "Use an arm, pick the blue rounded-bottom cup up, pass around the medium shampoo bottle, then place the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Use an arm: pick the medium-sized plastic blue cup up, skirt <the glossy white shampoo bottle>, then place the medium-sized plastic blue cup onto <the flat surface gray wooden coaster>.",
+    "Secure the cup with light blue color, move it around the smooth white shampoo dispenser, and place the cup with light blue color squarely on the light gray round grainy coaster."
+  ],
+  "unseen": [
+    "Pick up the handheld round blue cup, keep it clear of <the Dove shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the bottle for holding shampoo>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the Dove shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the bottle for holding shampoo, and place the blue cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the Dove shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the Dove shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo bottle with Dove logo>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the Dove shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the Dove shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the bottle for holding shampoo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with Dove logo, and place it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the bottle for holding shampoo, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the bottle for holding shampoo>, then set the small smooth cup on <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with Dove logo>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with Dove logo, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with Dove logo, and place the blue cup on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with Dove logo>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the bottle for holding shampoo, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo bottle with Dove logo>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the bottle for holding shampoo>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the Dove shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the Dove shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the bottle for holding shampoo, and place it on the light gray coaster.",
+    "Grab the blue cup, steer it around the Dove shampoo bottle, then set the blue cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the bottle for holding shampoo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the Dove shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with Dove logo>, and set the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the Dove shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the Dove shampoo bottle, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with Dove logo>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the bottle for holding shampoo, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the Dove shampoo bottle>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with Dove logo>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the Dove shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the Dove shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the Dove shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the bottle for holding shampoo, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the Dove shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the bottle for holding shampoo>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo bottle with Dove logo, then set the blue cup down on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the bottle for holding shampoo, and place the small smooth cup on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the bottle for holding shampoo>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the bottle for holding shampoo, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the bottle for holding shampoo>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with Dove logo>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the Dove shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with Dove logo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the Dove shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the Dove shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the bottle for holding shampoo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the Dove shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the Dove shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the Dove shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the Dove shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the bottle for holding shampoo, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with Dove logo>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle with Dove logo, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the Dove shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the Dove shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the Dove shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the Dove shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the Dove shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the Dove shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the Dove shampoo bottle>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the bottle for holding shampoo, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the bottle for holding shampoo, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the Dove shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the Dove shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the bottle for holding shampoo>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with Dove logo>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the bottle for holding shampoo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the Dove shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the Dove shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the bottle for holding shampoo, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the bottle for holding shampoo>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the bottle for holding shampoo, and set the small smooth cup on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the bottle for holding shampoo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the Dove shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the bottle for holding shampoo, then set the small smooth cup down on the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode60.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode60.json
new file mode 100644
index 0000000000000000000000000000000000000000..9560a85a10a1fef9a315f2f7870d73c79d378bfe
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode60.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using an arm, pick the blue rounded-bottom cup up, skirt the hand-held shampoo bottle, and place the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "Lift the cup with smooth plastic surface, arc around the rectangular shampoo bottle with rounded top, and place the cup with smooth plastic surface squarely on the flat surface gray wooden coaster.",
+    "Use an arm: grab the smooth blue drinking cup, avoid the shampoo bottle on the way, then set the smooth blue drinking cup on the flat surface gray wooden coaster.",
+    "Use the arm to lift the smooth blue drinking cup, pass the smooth shampoo container, and place the smooth blue drinking cup on the smooth round palm-sized coaster.",
+    "Lift the blue rounded-bottom cup, route it away from the white shampoo bottle, then put the blue rounded-bottom cup squarely on the grainy texture coaster.",
+    "Take the smooth blue drinking cup, keep its path away from the white shampoo bottle, and place the smooth blue drinking cup on the coaster made of smooth wood.",
+    "Use an arm, keep the rounded base blue cup from the smooth shampoo container, and lower the rounded base blue cup onto the smooth round palm-sized coaster.",
+    "Move the cup with smooth plastic surface to the light gray round grainy coaster while avoiding the shampoo bottle, then place the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Use an arm: take the blue rounded-bottom cup, avoid the white bottle with golden accents during the move, and drop it on the grainy texture coaster.",
+    "Slide the light blue plastic cup over to <the wooden coaster> without passing near <the medium shampoo container>.",
+    "Guide the cylindrical light blue cup with the arm around <the hand-held shampoo bottle> and onto <the coaster made of smooth wood>.",
+    "Use an arm, take the light blue plastic cup, avoid <the white bottle with golden accents> on the way, and set on <the small coaster with grain texture>.",
+    "Use an arm to move the rounded base blue cup toward the light gray streaked wooden coaster, keeping the rounded base blue cup clear of the white bottle with golden accents.",
+    "Move the rounded base blue cup toward the smooth round palm-sized coaster without passing near the plastic shampoo bottle with smooth surface, then set it down.",
+    "Move the smooth blue cup for liquids to the coaster made of smooth wood without crossing the plastic shampoo bottle with smooth surface, then release the smooth blue cup for liquids.",
+    "Use the arm to carry the medium blue cylindrical cup around the bottle for shampoo with glossy finish, then rest the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Grab the smooth blue drinking cup, route around the hand-held shampoo bottle, then lower the smooth blue drinking cup onto the coaster made of smooth wood.",
+    "With an arm, lift the medium blue cylindrical cup, avoid the shampoo bottle with rectangular base, and set the medium blue cylindrical cup onto the light gray round grainy coaster.",
+    "Carry the light blue plastic cup toward <the round coaster>, skirting <the white bottle with golden accents>, and set the light blue plastic cup down.",
+    "With an arm, take the rounded base blue cup, avoid the shampoo bottle with rectangular base, and put the rounded base blue cup on the wooden coaster.",
+    "Use an arm, pick the light blue plastic cup up, pass around the white shampoo bottle, then place the light blue plastic cup on the flat surface gray wooden coaster.",
+    "Use an arm to move the cup with smooth plastic surface around the white shampoo bottle with golden top and rest the cup with smooth plastic surface on the round coaster.",
+    "Use an arm to lift the medium blue cylindrical cup, arc around the rectangular shampoo bottle with rounded top, and place the medium blue cylindrical cup atop the small coaster with grain texture.",
+    "Use an arm, take the medium blue cylindrical cup past the white shampoo bottle with golden top without nearing it, and rest the medium blue cylindrical cup on the coaster with circular shape.",
+    "Pick up the cup with light blue color, keep clear of <the smooth shampoo container>, and drop the cup with light blue color onto <the flat round wooden coaster>.",
+    "Lift the medium blue cylindrical cup, pass beside <the hand-held shampoo bottle> without contact, then place the medium blue cylindrical cup onto <the flat round wooden coaster>.",
+    "Use an arm to bring the rounded base blue cup to the small coaster with grain texture, keeping the rounded base blue cup clear of the bottle with yellow cap.",
+    "Slide the cylindrical light blue cup toward the light gray round grainy coaster, detouring around the white bottle with golden accents, then set the cylindrical light blue cup down.",
+    "Take the cylindrical light blue cup, keep its path away from the white shampoo bottle, and drop the cylindrical light blue cup on the flat round wooden coaster.",
+    "With an arm, lift the smooth blue drinking cup, avoid the shampoo bottle with rectangular base, and place the smooth blue drinking cup on the round coaster.",
+    "Lift the medium blue cylindrical cup, pass by the shampoo bottle without contact, then place the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Take the blue rounded-bottom cup, guide it away from <the white shampoo bottle>, and place the blue rounded-bottom cup squarely on <the coaster with circular shape>.",
+    "Pick up the cup for holding liquids, keep its path away from <the bottle for shampoo with glossy finish>, and set the cup for holding liquids on <the coaster with circular shape>.",
+    "Take the medium-sized plastic blue cup to the round coaster while skirting the white bottle with golden accents, then release the medium-sized plastic blue cup on the round coaster.",
+    "Use an arm to take the plastic cup for drinks around <the bottle with yellow cap> and place the plastic cup for drinks on <the coaster with circular shape>.",
+    "With an arm, lift the light blue plastic cup, keep it away from the shampoo bottle, and drop it onto the round coaster.",
+    "Use an arm to lift the smooth blue drinking cup, keep distance from <the bottle with yellow cap>, and set the smooth blue drinking cup on <the small coaster with grain texture>.",
+    "Carry the light blue plastic cup toward the smooth round palm-sized coaster, keeping the light blue plastic cup away from the smooth shampoo container, then set down.",
+    "Lift the smooth blue cup for liquids, guide it past the rectangular shampoo bottle with rounded top, and rest the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "Use the arm to move the cup for holding liquids past <the hand-held shampoo bottle> and rest it on <the round coaster with light streaks>.",
+    "Lift the cup with smooth plastic surface, keep clear of the hand-held shampoo bottle, and put the cup with smooth plastic surface down on the small coaster with grain texture.",
+    "Using an arm, move the cup with light blue color to <the light gray round grainy coaster> while avoiding <the shampoo bottle>, then release the cup with light blue color.",
+    "Secure the cup with smooth plastic surface, keep its path away from the medium shampoo container, and set the cup with smooth plastic surface on the coaster with circular shape.",
+    "Take the cup for holding liquids in the arm, route around <the rectangular shampoo bottle with rounded top>, and set it on <the small coaster with grain texture>.",
+    "Using an arm, grasp the cup with smooth plastic surface, skirt the white shampoo bottle with golden top, and place the cup with smooth plastic surface atop the small coaster with grain texture.",
+    "With an arm, bring the rounded base blue cup over to <the grainy texture coaster> and keep clear of <the rectangular shampoo bottle with rounded top>.",
+    "Move the rounded base blue cup to <the wooden coaster> while keeping the rounded base blue cup away from <the hand-held shampoo bottle>, then release.",
+    "Lift the medium blue cylindrical cup, steer away from <the white shampoo bottle>, then place the medium blue cylindrical cup on <the round coaster with light streaks>.",
+    "Using an arm, carry the medium-sized plastic blue cup past <the shampoo bottle> and place the medium-sized plastic blue cup squarely on <the flat round wooden coaster>.",
+    "Lift the cup for holding liquids, guide it around <the shampoo bottle with rectangular base>, then put the cup for holding liquids onto <the flat surface gray wooden coaster>.",
+    "Pick up the rounded base blue cup, avoid the smooth shampoo container along the way, and place the rounded base blue cup on the light gray round grainy coaster.",
+    "Pick up the cup for holding liquids, guide it past the hand-held shampoo bottle, and drop the cup for holding liquids on the light gray round grainy coaster.",
+    "Grab the smooth blue drinking cup, swing it away from <the shampoo bottle with rectangular base>, and place the smooth blue drinking cup on <the round coaster>.",
+    "Move the smooth blue cup for liquids to <the smooth round palm-sized coaster> while keeping its path away from <the smooth shampoo container>.",
+    "With an arm, pick the medium blue cylindrical cup up, bypass <the white bottle with golden accents>, then place the medium blue cylindrical cup on <the grainy texture coaster>.",
+    "Using an arm, pick the medium-sized plastic blue cup up, skirt the hand-held shampoo bottle, and place the medium-sized plastic blue cup on the light gray round grainy coaster.",
+    "Take the medium blue cylindrical cup, route it away from the white bottle with golden accents, and set the medium blue cylindrical cup onto the wooden coaster.",
+    "Move the blue rounded-bottom cup onto <the flat surface gray wooden coaster> and ensure the path stays away from <the shampoo bottle>.",
+    "With an arm, move the light blue plastic cup past the shampoo bottle and place the light blue plastic cup on the flat round wooden coaster.",
+    "Take the smooth blue cup for liquids, swing wide of the hand-held shampoo bottle, then rest the smooth blue cup for liquids on the light gray streaked wooden coaster.",
+    "Use an arm: grasp the rounded base blue cup, avoid <the bottle with yellow cap>, and place the rounded base blue cup on <the coaster with circular shape>.",
+    "With an arm, lift the light blue plastic cup, route past <the hand-held shampoo bottle>, and drop the light blue plastic cup onto <the coaster with circular shape>.",
+    "Arm-lift the medium blue cylindrical cup, swing around <the bottle for shampoo with glossy finish>, then place the medium blue cylindrical cup onto <the grainy texture coaster>.",
+    "Grab the cylindrical light blue cup, guide it away from the bottle for shampoo with glossy finish, and set the cylindrical light blue cup neatly on the wooden coaster.",
+    "Use an arm to grab the rounded base blue cup, avoid the smooth shampoo container, and set the rounded base blue cup down on the light gray streaked wooden coaster.",
+    "Using an arm, carry the smooth blue cup for liquids around the shampoo bottle with rectangular base and place the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Use an arm: pick the blue rounded-bottom cup up, skirt <the bottle for shampoo with glossy finish>, then place the blue rounded-bottom cup onto <the flat round wooden coaster>.",
+    "Move the smooth blue cup for liquids onto the round coaster while avoiding the smooth shampoo container, then let go of the smooth blue cup for liquids.",
+    "Secure the cup with light blue color, move it around the rectangular shampoo bottle with rounded top, and place the cup with light blue color squarely on the light gray streaked wooden coaster.",
+    "Carry the medium-sized plastic blue cup toward <the light gray round grainy coaster>, keeping clear of <the bottle for shampoo with glossy finish>, and set the medium-sized plastic blue cup down.",
+    "Carry the rounded base blue cup toward <the flat round wooden coaster>, keeping the path clear of <the rectangular shampoo bottle with rounded top>, then set down.",
+    "Pick the cup with smooth plastic surface up, route it away from the bottle with yellow cap, and drop the cup with smooth plastic surface onto the light gray round grainy coaster.",
+    "With an arm, lift the cup with smooth plastic surface, guide it past the plastic shampoo bottle with smooth surface, and put the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Lift the plastic cup for drinks, go around the bottle for shampoo with glossy finish, and position the plastic cup for drinks squarely on the coaster with circular shape.",
+    "Use an arm to move the medium blue cylindrical cup to the wooden coaster, keeping the medium blue cylindrical cup from bumping the bottle with yellow cap.",
+    "With an arm, lift the cup with light blue color, avoid <the rectangular shampoo bottle with rounded top> on the way, and drop the cup with light blue color on <the flat surface gray wooden coaster>.",
+    "Move the cup with smooth plastic surface onto the light gray round grainy coaster while avoiding the bottle with yellow cap, then let go of the cup with smooth plastic surface.",
+    "Lift the cup for holding liquids, carry it around the smooth shampoo container, and place the cup for holding liquids squarely on the light gray round grainy coaster.",
+    "Take the smooth blue cup for liquids, arc around <the bottle with yellow cap>, and place the smooth blue cup for liquids neatly on <the round coaster>.",
+    "Pick up the smooth blue cup for liquids, route it away from the smooth shampoo container, then set the smooth blue cup for liquids on the round coaster.",
+    "Using an arm, pick the smooth blue drinking cup up, skirt the rectangular shampoo bottle with rounded top, and place the smooth blue drinking cup on the grainy texture coaster.",
+    "Lift the cylindrical light blue cup, arc around the white shampoo bottle, and place the cylindrical light blue cup squarely on the smooth round palm-sized coaster.",
+    "Use an arm: grab the cylindrical light blue cup, avoid the white shampoo bottle with golden top on the way, then set the cylindrical light blue cup on the coaster with circular shape.",
+    "Use the arm to lift the cup with light blue color, pass the smooth shampoo container, and place the cup with light blue color on the small coaster with grain texture.",
+    "Lift the medium-sized plastic blue cup, route it away from the shampoo bottle with rectangular base, then put the medium-sized plastic blue cup squarely on the flat surface gray wooden coaster.",
+    "Take the cup with light blue color, keep its path away from the bottle with yellow cap, and place the cup with light blue color on the round coaster with light streaks.",
+    "Use an arm, keep the cup with light blue color from the shampoo bottle with rectangular base, and lower the cup with light blue color onto the light gray streaked wooden coaster.",
+    "Move the smooth blue drinking cup to the flat round wooden coaster while avoiding the shampoo bottle with rectangular base, then place the smooth blue drinking cup on the flat round wooden coaster.",
+    "Use an arm: take the blue rounded-bottom cup, avoid the rectangular shampoo bottle with rounded top during the move, and drop it on the round coaster with light streaks.",
+    "Slide the medium-sized plastic blue cup over to <the flat surface gray wooden coaster> without passing near <the white shampoo bottle>.",
+    "Guide the cylindrical light blue cup with the arm around <the shampoo bottle with rectangular base> and onto <the wooden coaster>.",
+    "Use an arm, take the smooth blue drinking cup, avoid <the bottle for shampoo with glossy finish> on the way, and set on <the flat surface gray wooden coaster>.",
+    "Use an arm to move the cup with light blue color toward the small coaster with grain texture, keeping the cup with light blue color clear of the hand-held shampoo bottle.",
+    "Move the light blue plastic cup toward the round coaster with light streaks without passing near the smooth shampoo container, then set it down.",
+    "Move the light blue plastic cup to the flat surface gray wooden coaster without crossing the plastic shampoo bottle with smooth surface, then release the light blue plastic cup.",
+    "Use the arm to carry the smooth blue cup for liquids around the shampoo bottle with rectangular base, then rest the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "Grab the plastic cup for drinks, route around the smooth shampoo container, then lower the plastic cup for drinks onto the wooden coaster.",
+    "With an arm, lift the cup for holding liquids, avoid the white bottle with golden accents, and set the cup for holding liquids onto the grainy texture coaster.",
+    "Carry the smooth blue cup for liquids toward <the coaster made of smooth wood>, skirting <the plastic shampoo bottle with smooth surface>, and set the smooth blue cup for liquids down.",
+    "With an arm, take the rounded base blue cup, avoid the shampoo bottle, and put the rounded base blue cup on the coaster with circular shape."
+  ],
+  "unseen": [
+    "With an arm, lift the blue cup, avoid <the white plastic shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the medium-sized shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the medium-sized shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the white plastic shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with rounded yellow cap, and set it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the white plastic shampoo bottle, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the medium-sized shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the medium-sized shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the white plastic shampoo bottle>, and place it on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the white plastic shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the white plastic shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo bottle with rounded yellow cap>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the white plastic shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the medium-sized shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white plastic shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with rounded yellow cap, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with rounded yellow cap, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the white plastic shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the white plastic shampoo bottle>, and place it on <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white plastic shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the medium-sized shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the white plastic shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the medium-sized shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the medium-sized shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the white plastic shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with rounded yellow cap, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the medium-sized shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with rounded yellow cap, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the white plastic shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the white plastic shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the medium-sized shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white plastic shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the white plastic shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with rounded yellow cap>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the medium-sized shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the white plastic shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the white plastic shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the white plastic shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white plastic shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the white plastic shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white plastic shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with rounded yellow cap, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the white plastic shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with rounded yellow cap>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with rounded yellow cap, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the white plastic shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with rounded yellow cap>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the white plastic shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white plastic shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the white plastic shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup down on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the white plastic shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the white plastic shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the white plastic shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the white plastic shampoo bottle>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the medium-sized shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the white plastic shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white plastic shampoo bottle, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white plastic shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo bottle with rounded yellow cap, then set the small smooth cup down on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with rounded yellow cap>, then place the handheld round blue cup onto <the light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode61.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode61.json
new file mode 100644
index 0000000000000000000000000000000000000000..1208415e2fbb1dbfa74a6d64ec91fb2ea8d2efc4
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode61.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the light blue plastic cup, swing wide of the curved light blue shampoo bottle, then rest the light blue plastic cup on the coaster with circular shape.",
+    "Use an arm: grasp the medium-sized plastic blue cup, avoid <the blue shampoo bottle>, and place the medium-sized plastic blue cup on <the grainy texture coaster>.",
+    "Using an arm, carry the blue rounded-bottom cup around the shampoo bottle flat bottom edge and place the blue rounded-bottom cup onto the light gray streaked wooden coaster.",
+    "Move the blue rounded-bottom cup to the round coaster while avoiding the light blue shampoo bottle small size, then place the blue rounded-bottom cup on the round coaster.",
+    "Take the smooth blue drinking cup to the round coaster while skirting the hand-sized shampoo bottle, then release the smooth blue drinking cup on the round coaster.",
+    "Lift the smooth blue drinking cup, carry it around the hand-sized shampoo bottle, and place the smooth blue drinking cup squarely on the round coaster with light streaks.",
+    "With an arm, lift the cup with light blue color, route past <the hand-sized shampoo bottle>, and drop the cup with light blue color onto <the flat round wooden coaster>.",
+    "Lift the blue rounded-bottom cup, keep clear of the hand-sized shampoo bottle, and put the blue rounded-bottom cup down on the light gray streaked wooden coaster.",
+    "Lift the cup with light blue color, pass by the blue shampoo bottle without contact, then place the cup with light blue color on the light gray round grainy coaster.",
+    "Use the arm to lift the plastic cup for drinks, pass the shampoo bottle flat bottom edge, and place the plastic cup for drinks on the wooden coaster.",
+    "With an arm, lift the cylindrical light blue cup, avoid the shampoo bottle with matte plastic, and set the cylindrical light blue cup onto the smooth round palm-sized coaster.",
+    "Use an arm to move the blue rounded-bottom cup toward the flat round wooden coaster, keeping the blue rounded-bottom cup clear of the bottle of shampoo.",
+    "Use an arm to lift the plastic cup for drinks, keep distance from <the hand-sized shampoo bottle>, and set the plastic cup for drinks on <the wooden coaster>.",
+    "With an arm, lift the rounded base blue cup, guide it past the light blue shampoo bottle small size, and put the rounded base blue cup on the light gray round grainy coaster.",
+    "Using an arm, pick the cup with light blue color up, skirt the bottle light blue rounded shape, and place the cup with light blue color on the light gray streaked wooden coaster.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid <the shampoo bottle with matte plastic> on the way, and drop the medium-sized plastic blue cup on <the light gray round grainy coaster>.",
+    "Grab the smooth blue drinking cup, swing it away from <the blue shampoo bottle>, and place the smooth blue drinking cup on <the grainy texture coaster>.",
+    "Pick up the light blue plastic cup, keep its path away from <the shampoo bottle flat bottom edge>, and set the light blue plastic cup on <the light gray streaked wooden coaster>.",
+    "Carry the rounded base blue cup toward <the smooth round palm-sized coaster>, keeping clear of <the blue shampoo bottle>, and set the rounded base blue cup down.",
+    "Use an arm to bring the smooth blue cup for liquids to the light gray streaked wooden coaster, keeping the smooth blue cup for liquids clear of the blue shampoo bottle.",
+    "With an arm, take the cup for holding liquids, avoid the shampoo bottle with white cap, and put the cup for holding liquids on the wooden coaster.",
+    "Use an arm: take the smooth blue cup for liquids, avoid the curved light blue shampoo bottle during the move, and drop it on the flat surface gray wooden coaster.",
+    "Take the medium-sized plastic blue cup, guide it away from <the shampoo bottle with matte plastic>, and place the medium-sized plastic blue cup squarely on <the coaster with circular shape>.",
+    "Grab the plastic cup for drinks, guide it away from the light blue shampoo bottle small size, and set the plastic cup for drinks neatly on the round coaster.",
+    "Pick up the medium blue cylindrical cup, avoid the blue shampoo bottle slender design along the way, and place the medium blue cylindrical cup on the flat round wooden coaster.",
+    "Lift the cup for holding liquids, go around the light blue shampoo bottle small size, and position the cup for holding liquids squarely on the smooth round palm-sized coaster.",
+    "With an arm, lift the cup for holding liquids, keep it away from the small smooth shampoo bottle, and drop it onto the light gray streaked wooden coaster.",
+    "Use an arm to take the light blue plastic cup around <the shampoo bottle flat bottom edge> and place the light blue plastic cup on <the round coaster with light streaks>.",
+    "Pick up the plastic cup for drinks, keep clear of <the small smooth shampoo bottle>, and drop the plastic cup for drinks onto <the round coaster with light streaks>.",
+    "Lift the cup with smooth plastic surface, guide it past the shampoo bottle with white cap, and rest the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Move the blue rounded-bottom cup onto the flat round wooden coaster while avoiding the curved light blue shampoo bottle, then let go of the blue rounded-bottom cup.",
+    "Move the light blue plastic cup to <the wooden coaster> while keeping its path away from <the light blue shampoo bottle small size>.",
+    "Take the cup for holding liquids in the arm, route around <the blue shampoo bottle>, and set it on <the coaster with circular shape>.",
+    "Use the arm to move the blue rounded-bottom cup past <the shampoo bottle tapered toward cap> and rest it on <the flat round wooden coaster>.",
+    "Take the cup for holding liquids, route it away from the hand-sized shampoo bottle, and set the cup for holding liquids onto the wooden coaster.",
+    "Lift the medium-sized plastic blue cup, arc around the blue shampoo bottle slender design, and place the medium-sized plastic blue cup squarely on the flat surface gray wooden coaster.",
+    "Move the cup for holding liquids toward the coaster made of smooth wood without passing near the shampoo bottle tapered toward cap, then set it down.",
+    "Use an arm: grab the medium-sized plastic blue cup, avoid the shampoo bottle tapered toward cap on the way, then set the medium-sized plastic blue cup on the light gray streaked wooden coaster.",
+    "Use an arm to lift the light blue plastic cup, arc around the curved light blue shampoo bottle, and place the light blue plastic cup atop the round coaster with light streaks.",
+    "Use an arm, pick the cylindrical light blue cup up, pass around the shampoo bottle with matte plastic, then place the cylindrical light blue cup on the round coaster.",
+    "Take the smooth blue drinking cup, keep its path away from the bottle of shampoo, and drop the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "Move the light blue plastic cup onto <the flat round wooden coaster> and ensure the path stays away from <the shampoo bottle with matte plastic>.",
+    "Use an arm, take the cup for holding liquids past the shampoo bottle with matte plastic without nearing it, and rest the cup for holding liquids on the flat round wooden coaster.",
+    "Arm-lift the rounded base blue cup, swing around <the shampoo bottle with matte plastic>, then place the rounded base blue cup onto <the light gray streaked wooden coaster>.",
+    "Pick up the blue rounded-bottom cup, guide it past the curved light blue shampoo bottle, and drop the blue rounded-bottom cup on the grainy texture coaster.",
+    "Secure the medium blue cylindrical cup, keep its path away from the small smooth shampoo bottle, and set the medium blue cylindrical cup on the flat round wooden coaster.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the small smooth shampoo bottle, and place the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Use an arm, take the smooth blue cup for liquids, avoid <the shampoo bottle flat bottom edge> on the way, and set on <the grainy texture coaster>.",
+    "Using an arm, pick the cup for holding liquids up, skirt the shampoo bottle flat bottom edge, and place the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Move the light blue plastic cup onto the grainy texture coaster while avoiding the shampoo bottle with white cap, then let go of the light blue plastic cup.",
+    "Move the light blue plastic cup to the light gray round grainy coaster without crossing the small smooth shampoo bottle, then release the light blue plastic cup.",
+    "Guide the blue rounded-bottom cup with the arm around <the bottle light blue rounded shape> and onto <the coaster made of smooth wood>.",
+    "Lift the cylindrical light blue cup, pass beside <the shampoo bottle flat bottom edge> without contact, then place the cylindrical light blue cup onto <the flat surface gray wooden coaster>.",
+    "With an arm, pick the cup for holding liquids up, bypass <the shampoo bottle flat bottom edge>, then place the cup for holding liquids on <the flat surface gray wooden coaster>.",
+    "Use an arm to move the medium blue cylindrical cup around the shampoo bottle tapered toward cap and rest the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Use an arm to move the medium blue cylindrical cup to the light gray streaked wooden coaster, keeping the medium blue cylindrical cup from bumping the shampoo bottle with white cap.",
+    "Secure the blue rounded-bottom cup, move it around the shampoo bottle with matte plastic, and place the blue rounded-bottom cup squarely on the light gray round grainy coaster.",
+    "Use the arm to carry the smooth blue drinking cup around the shampoo bottle with matte plastic, then rest the smooth blue drinking cup on the flat round wooden coaster.",
+    "Lift the rounded base blue cup, guide it around <the curved light blue shampoo bottle>, then put the rounded base blue cup onto <the smooth round palm-sized coaster>.",
+    "Lift the rounded base blue cup, route it away from the blue shampoo bottle, then put the rounded base blue cup squarely on the smooth round palm-sized coaster.",
+    "Pick the medium-sized plastic blue cup up, route it away from the shampoo bottle flat bottom edge, and drop the medium-sized plastic blue cup onto the smooth round palm-sized coaster.",
+    "Take the plastic cup for drinks, arc around <the bottle of shampoo>, and place the plastic cup for drinks neatly on <the grainy texture coaster>.",
+    "Pick up the rounded base blue cup, route it away from the shampoo bottle with matte plastic, then set the rounded base blue cup on the wooden coaster.",
+    "Take the light blue plastic cup, keep its path away from the curved light blue shampoo bottle, and place the light blue plastic cup on the wooden coaster.",
+    "With an arm, move the smooth blue cup for liquids past the curved light blue shampoo bottle and place the smooth blue cup for liquids on the smooth round palm-sized coaster.",
+    "Slide the smooth blue drinking cup over to <the light gray streaked wooden coaster> without passing near <the light blue shampoo bottle small size>.",
+    "Slide the plastic cup for drinks toward the flat surface gray wooden coaster, detouring around the shampoo bottle tapered toward cap, then set the plastic cup for drinks down.",
+    "Use an arm to grab the smooth blue drinking cup, avoid the small smooth shampoo bottle, and set the smooth blue drinking cup down on the coaster made of smooth wood.",
+    "With an arm, bring the medium blue cylindrical cup over to <the light gray streaked wooden coaster> and keep clear of <the bottle light blue rounded shape>.",
+    "Lift the cylindrical light blue cup, steer away from <the hand-sized shampoo bottle>, then place the cylindrical light blue cup on <the flat surface gray wooden coaster>.",
+    "Use an arm, keep the cup for holding liquids from the bottle light blue rounded shape, and lower the cup for holding liquids onto the coaster with circular shape.",
+    "Using an arm, move the light blue plastic cup to <the small coaster with grain texture> while avoiding <the bottle of shampoo>, then release the light blue plastic cup.",
+    "Using an arm, grasp the smooth blue cup for liquids, skirt the small smooth shampoo bottle, and place the smooth blue cup for liquids atop the light gray streaked wooden coaster.",
+    "Carry the smooth blue cup for liquids toward the coaster with circular shape, keeping the smooth blue cup for liquids away from the hand-sized shampoo bottle, then set down.",
+    "Carry the cup with light blue color toward <the small coaster with grain texture>, keeping the path clear of <the blue shampoo bottle>, then set down.",
+    "Move the rounded base blue cup to <the round coaster with light streaks> while keeping the rounded base blue cup away from <the bottle of shampoo>, then release.",
+    "Grab the medium-sized plastic blue cup, route around the blue shampoo bottle slender design, then lower the medium-sized plastic blue cup onto the grainy texture coaster.",
+    "Use an arm: pick the smooth blue cup for liquids up, skirt <the curved light blue shampoo bottle>, then place the smooth blue cup for liquids onto <the grainy texture coaster>.",
+    "Carry the smooth blue cup for liquids toward <the coaster with circular shape>, skirting <the small smooth shampoo bottle>, and set the smooth blue cup for liquids down.",
+    "Using an arm, carry the plastic cup for drinks past <the hand-sized shampoo bottle> and place the plastic cup for drinks squarely on <the wooden coaster>.",
+    "Take the light blue plastic cup, swing wide of the hand-sized shampoo bottle, then rest the light blue plastic cup on the light gray streaked wooden coaster.",
+    "Use an arm: grasp the medium blue cylindrical cup, avoid <the light blue shampoo bottle small size>, and place the medium blue cylindrical cup on <the flat surface gray wooden coaster>.",
+    "Using an arm, carry the blue rounded-bottom cup around the bottle of shampoo and place the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Move the cup with light blue color to the grainy texture coaster while avoiding the shampoo bottle tapered toward cap, then place the cup with light blue color on the grainy texture coaster.",
+    "Take the light blue plastic cup to the small coaster with grain texture while skirting the bottle light blue rounded shape, then release the light blue plastic cup on the small coaster with grain texture.",
+    "Lift the light blue plastic cup, carry it around the shampoo bottle flat bottom edge, and place the light blue plastic cup squarely on the flat surface gray wooden coaster.",
+    "With an arm, lift the medium blue cylindrical cup, route past <the curved light blue shampoo bottle>, and drop the medium blue cylindrical cup onto <the flat surface gray wooden coaster>.",
+    "Lift the medium blue cylindrical cup, keep clear of the shampoo bottle tapered toward cap, and put the medium blue cylindrical cup down on the smooth round palm-sized coaster.",
+    "Lift the blue rounded-bottom cup, pass by the shampoo bottle tapered toward cap without contact, then place the blue rounded-bottom cup on the round coaster.",
+    "Use the arm to lift the blue rounded-bottom cup, pass the shampoo bottle flat bottom edge, and place the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "With an arm, lift the smooth blue cup for liquids, avoid the curved light blue shampoo bottle, and set the smooth blue cup for liquids onto the coaster with circular shape.",
+    "Use an arm to move the smooth blue cup for liquids toward the flat surface gray wooden coaster, keeping the smooth blue cup for liquids clear of the bottle light blue rounded shape.",
+    "Use an arm to lift the medium-sized plastic blue cup, keep distance from <the bottle of shampoo>, and set the medium-sized plastic blue cup on <the round coaster>.",
+    "With an arm, lift the smooth blue cup for liquids, guide it past the bottle of shampoo, and put the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Using an arm, pick the medium blue cylindrical cup up, skirt the light blue shampoo bottle small size, and place the medium blue cylindrical cup on the round coaster.",
+    "With an arm, lift the smooth blue drinking cup, avoid <the curved light blue shampoo bottle> on the way, and drop the smooth blue drinking cup on <the small coaster with grain texture>.",
+    "Grab the plastic cup for drinks, swing it away from <the blue shampoo bottle slender design>, and place the plastic cup for drinks on <the round coaster>.",
+    "Pick up the cylindrical light blue cup, keep its path away from <the shampoo bottle with white cap>, and set the cylindrical light blue cup on <the light gray streaked wooden coaster>.",
+    "Carry the cup with light blue color toward <the flat surface gray wooden coaster>, keeping clear of <the shampoo bottle with white cap>, and set the cup with light blue color down.",
+    "Use an arm to bring the cylindrical light blue cup to the flat round wooden coaster, keeping the cylindrical light blue cup clear of the blue shampoo bottle."
+  ],
+  "unseen": [
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container white rounded top, and set it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container white rounded top, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth bottle containing shampoo, and set the blue cup on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the oval light blue shampoo container>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the smooth bottle containing shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the oval light blue shampoo container>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth bottle containing shampoo>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container white rounded top, and place the blue cup on the light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo container white rounded top>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the oval light blue shampoo container>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the smooth bottle containing shampoo, then set the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, carry it around the shampoo container white rounded top, then set the small smooth cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the oval light blue shampoo container>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the oval light blue shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the oval light blue shampoo container, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the smooth bottle containing shampoo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the smooth bottle containing shampoo>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container white rounded top>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container white rounded top, and place the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the oval light blue shampoo container>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the oval light blue shampoo container>, and place the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the oval light blue shampoo container, then set the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, carry it around the oval light blue shampoo container, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the smooth bottle containing shampoo>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the oval light blue shampoo container, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the smooth bottle containing shampoo, and place it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the oval light blue shampoo container>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the oval light blue shampoo container, then place the blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the smooth bottle containing shampoo>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container white rounded top, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the shampoo container white rounded top>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container white rounded top>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the oval light blue shampoo container, then set the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, carry it around the smooth bottle containing shampoo, then set the small smooth cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the oval light blue shampoo container>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container white rounded top, then place the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the oval light blue shampoo container, and set it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the smooth bottle containing shampoo, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container white rounded top>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo container white rounded top, then place the blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the oval light blue shampoo container>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the oval light blue shampoo container>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container white rounded top, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the oval light blue shampoo container>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the smooth bottle containing shampoo>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the smooth bottle containing shampoo, then place the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, steer it around the smooth bottle containing shampoo, then set the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo container white rounded top, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the smooth bottle containing shampoo, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the smooth bottle containing shampoo, and place it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the oval light blue shampoo container>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the smooth bottle containing shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the oval light blue shampoo container>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the smooth bottle containing shampoo>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the oval light blue shampoo container, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the oval light blue shampoo container>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container white rounded top>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo container white rounded top, then place the blue cup onto the light gray coaster.",
+    "Grab the blue cup, steer it around the smooth bottle containing shampoo, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo container white rounded top, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the blue cup, route it around <the oval light blue shampoo container>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the smooth bottle containing shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the smooth bottle containing shampoo, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the smooth bottle containing shampoo, and place it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth bottle containing shampoo, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the oval light blue shampoo container>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the oval light blue shampoo container, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo container white rounded top>, then set the blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the oval light blue shampoo container>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container white rounded top, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the oval light blue shampoo container>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the oval light blue shampoo container>, and place the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the smooth bottle containing shampoo, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo container white rounded top, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the oval light blue shampoo container, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the smooth bottle containing shampoo>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container white rounded top, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container white rounded top, and place it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode62.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode62.json
new file mode 100644
index 0000000000000000000000000000000000000000..b39b863e7b93cf5bfcf2ab0addb3ba96fd69d58d
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode62.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm to lift the rounded base blue cup, keep distance from <the medium-sized white plastic shampoo>, and set the rounded base blue cup on <the round coaster with light streaks>.",
+    "Using an arm, carry the smooth blue cup for liquids around the bottle with hexagonal blue cap and place the smooth blue cup for liquids onto the small coaster with grain texture.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the bottle with smooth surface, and place the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Pick the cup with light blue color up, route it away from the white and blue shampoo container, and drop the cup with light blue color onto the coaster made of smooth wood.",
+    "Pick up the plastic cup for drinks, guide it past the curved shampoo bottle, and drop the plastic cup for drinks on the smooth round palm-sized coaster.",
+    "Lift the cup with light blue color, pass beside <the shampoo bottle with blue cap> without contact, then place the cup with light blue color onto <the light gray round grainy coaster>.",
+    "Lift the smooth blue drinking cup, guide it around <the curved shampoo bottle>, then put the smooth blue drinking cup onto <the round coaster>.",
+    "Secure the cup for holding liquids, move it around the medium-sized white plastic shampoo, and place the cup for holding liquids squarely on the flat surface gray wooden coaster.",
+    "Take the cup with smooth plastic surface, route it away from the bottle with smooth surface, and set the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Move the rounded base blue cup to <the coaster with circular shape> while keeping its path away from <the handheld shampoo container>.",
+    "Use an arm to bring the rounded base blue cup to the round coaster with light streaks, keeping the rounded base blue cup clear of the bottle with smooth surface.",
+    "Grab the light blue plastic cup, route around the medium-sized white plastic shampoo, then lower the light blue plastic cup onto the small coaster with grain texture.",
+    "Carry the smooth blue cup for liquids toward <the round coaster with light streaks>, skirting <the curved shampoo bottle>, and set the smooth blue cup for liquids down.",
+    "Move the medium blue cylindrical cup onto the light gray round grainy coaster while avoiding the medium-sized white plastic shampoo, then let go of the medium blue cylindrical cup.",
+    "With an arm, lift the medium blue cylindrical cup, guide it past the blue top shampoo bottle, and put the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Use an arm: grab the blue rounded-bottom cup, avoid the white shampoo bottle on the way, then set the blue rounded-bottom cup on the small coaster with grain texture.",
+    "Carry the plastic cup for drinks toward <the small coaster with grain texture>, keeping the path clear of <the shampoo bottle with curved sides>, then set down.",
+    "Secure the cup with light blue color, keep its path away from the bottle with smooth surface, and set the cup with light blue color on the smooth round palm-sized coaster.",
+    "Use an arm to lift the cylindrical light blue cup, arc around the shampoo bottle with curved sides, and place the cylindrical light blue cup atop the round coaster.",
+    "Lift the blue rounded-bottom cup, guide it past the white shampoo bottle, and rest the blue rounded-bottom cup on the round coaster.",
+    "Use an arm to move the medium-sized plastic blue cup to the small coaster with grain texture, keeping the medium-sized plastic blue cup from bumping the curved shampoo bottle.",
+    "Take the medium blue cylindrical cup in the arm, route around <the bottle with hexagonal blue cap>, and set it on <the light gray round grainy coaster>.",
+    "Guide the cup with smooth plastic surface with the arm around <the handheld shampoo container> and onto <the grainy texture coaster>.",
+    "With an arm, pick the smooth blue cup for liquids up, bypass <the blue top shampoo bottle>, then place the smooth blue cup for liquids on <the flat surface gray wooden coaster>.",
+    "Move the smooth blue cup for liquids toward the coaster with circular shape without passing near the plastic shampoo bottle, then set it down.",
+    "Take the medium blue cylindrical cup, keep its path away from the medium-sized white plastic shampoo, and drop the medium blue cylindrical cup on the flat surface gray wooden coaster.",
+    "Use the arm to lift the light blue plastic cup, pass the medium-sized white plastic shampoo, and place the light blue plastic cup on the light gray streaked wooden coaster.",
+    "With an arm, bring the light blue plastic cup over to <the small coaster with grain texture> and keep clear of <the medium-sized white plastic shampoo>.",
+    "Move the smooth blue cup for liquids to the round coaster with light streaks while avoiding the shampoo bottle with blue cap, then place the smooth blue cup for liquids on the round coaster with light streaks.",
+    "Grab the medium-sized plastic blue cup, guide it away from the plastic shampoo bottle, and set the medium-sized plastic blue cup neatly on the flat round wooden coaster.",
+    "Slide the blue rounded-bottom cup toward the small coaster with grain texture, detouring around the plastic shampoo bottle, then set the blue rounded-bottom cup down.",
+    "Take the medium blue cylindrical cup, guide it away from <the plastic shampoo bottle>, and place the medium blue cylindrical cup squarely on <the smooth round palm-sized coaster>.",
+    "Lift the medium-sized plastic blue cup, steer away from <the medium-sized white plastic shampoo>, then place the medium-sized plastic blue cup on <the wooden coaster>.",
+    "With an arm, lift the smooth blue cup for liquids, keep it away from the shampoo bottle with curved sides, and drop it onto the smooth round palm-sized coaster.",
+    "Use an arm, take the cup with smooth plastic surface, avoid <the plastic shampoo with orange label> on the way, and set on <the flat surface gray wooden coaster>.",
+    "Use the arm to carry the medium-sized plastic blue cup around the shampoo bottle with blue cap, then rest the medium-sized plastic blue cup on the round coaster.",
+    "Take the plastic cup for drinks, keep its path away from the bottle with smooth surface, and place the plastic cup for drinks on the flat round wooden coaster.",
+    "Take the cup with light blue color to the smooth round palm-sized coaster while skirting the handheld shampoo container, then release the cup with light blue color on the smooth round palm-sized coaster.",
+    "Pick up the plastic cup for drinks, keep clear of <the shampoo bottle with curved sides>, and drop the plastic cup for drinks onto <the small coaster with grain texture>.",
+    "Use an arm: take the blue rounded-bottom cup, avoid the bottle with smooth surface during the move, and drop it on the small coaster with grain texture.",
+    "Slide the medium blue cylindrical cup over to <the coaster made of smooth wood> without passing near <the blue top shampoo bottle>.",
+    "Move the cup with light blue color onto <the smooth round palm-sized coaster> and ensure the path stays away from <the plastic shampoo bottle>.",
+    "Lift the rounded base blue cup, carry it around the bottle with hexagonal blue cap, and place the rounded base blue cup squarely on the light gray round grainy coaster.",
+    "Lift the cup with light blue color, pass by the white and blue shampoo container without contact, then place the cup with light blue color on the coaster with circular shape.",
+    "Arm-lift the smooth blue cup for liquids, swing around <the handheld shampoo container>, then place the smooth blue cup for liquids onto <the grainy texture coaster>.",
+    "Lift the medium blue cylindrical cup, arc around the bottle with hexagonal blue cap, and place the medium blue cylindrical cup squarely on the round coaster.",
+    "Use an arm to move the smooth blue cup for liquids around the handheld shampoo container and rest the smooth blue cup for liquids on the round coaster with light streaks.",
+    "Use an arm: grasp the cylindrical light blue cup, avoid <the plastic shampoo bottle>, and place the cylindrical light blue cup on <the round coaster>.",
+    "Lift the cylindrical light blue cup, route it away from the plastic shampoo bottle, then put the cylindrical light blue cup squarely on the wooden coaster.",
+    "Move the rounded base blue cup to the light gray streaked wooden coaster without crossing the shampoo bottle with blue cap, then release the rounded base blue cup.",
+    "Use an arm to move the smooth blue cup for liquids toward the flat round wooden coaster, keeping the smooth blue cup for liquids clear of the bottle with smooth surface.",
+    "Using an arm, grasp the cylindrical light blue cup, skirt the bottle with hexagonal blue cap, and place the cylindrical light blue cup atop the flat surface gray wooden coaster.",
+    "Take the smooth blue cup for liquids, arc around <the plastic shampoo bottle>, and place the smooth blue cup for liquids neatly on <the flat round wooden coaster>.",
+    "Pick up the rounded base blue cup, keep its path away from <the curved shampoo bottle>, and set the rounded base blue cup on <the flat surface gray wooden coaster>.",
+    "Carry the medium-sized plastic blue cup toward <the round coaster>, keeping clear of <the curved shampoo bottle>, and set the medium-sized plastic blue cup down.",
+    "Grab the cup for holding liquids, swing it away from <the shampoo bottle with curved sides>, and place the cup for holding liquids on <the flat surface gray wooden coaster>.",
+    "Lift the cup for holding liquids, go around the shampoo bottle with curved sides, and position the cup for holding liquids squarely on the round coaster.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the white shampoo bottle, and set the cup with smooth plastic surface onto the round coaster.",
+    "Carry the medium blue cylindrical cup toward the flat round wooden coaster, keeping the medium blue cylindrical cup away from the medium-sized white plastic shampoo, then set down.",
+    "Using an arm, pick the smooth blue cup for liquids up, skirt the bottle with hexagonal blue cap, and place the smooth blue cup for liquids on the round coaster.",
+    "Use an arm to take the cylindrical light blue cup around <the bottle with smooth surface> and place the cylindrical light blue cup on <the light gray round grainy coaster>.",
+    "Pick up the light blue plastic cup, route it away from the plastic shampoo bottle, then set the light blue plastic cup on the coaster made of smooth wood.",
+    "Using an arm, move the cup for holding liquids to <the small coaster with grain texture> while avoiding <the white and blue shampoo container>, then release the cup for holding liquids.",
+    "Move the cylindrical light blue cup to <the light gray streaked wooden coaster> while keeping the cylindrical light blue cup away from <the bottle with smooth surface>, then release.",
+    "With an arm, lift the blue rounded-bottom cup, avoid <the white shampoo bottle> on the way, and drop the blue rounded-bottom cup on <the light gray streaked wooden coaster>.",
+    "With an arm, move the cup for holding liquids past the medium-sized white plastic shampoo and place the cup for holding liquids on the light gray round grainy coaster.",
+    "Use an arm, keep the plastic cup for drinks from the medium-sized white plastic shampoo, and lower the plastic cup for drinks onto the round coaster with light streaks.",
+    "With an arm, lift the cup for holding liquids, avoid the white and blue shampoo container, and place the cup for holding liquids on the round coaster with light streaks.",
+    "With an arm, lift the rounded base blue cup, route past <the medium-sized white plastic shampoo>, and drop the rounded base blue cup onto <the light gray streaked wooden coaster>.",
+    "Take the cup for holding liquids, swing wide of the shampoo bottle with blue cap, then rest the cup for holding liquids on the light gray round grainy coaster.",
+    "Move the smooth blue drinking cup onto the wooden coaster while avoiding the plastic shampoo with orange label, then let go of the smooth blue drinking cup.",
+    "Lift the plastic cup for drinks, keep clear of the handheld shampoo container, and put the plastic cup for drinks down on the light gray round grainy coaster.",
+    "Using an arm, carry the cup with smooth plastic surface past <the shampoo bottle with blue cap> and place the cup with smooth plastic surface squarely on <the light gray round grainy coaster>.",
+    "With an arm, take the smooth blue cup for liquids, avoid the blue top shampoo bottle, and put the smooth blue cup for liquids on the coaster made of smooth wood.",
+    "Use an arm: pick the medium-sized plastic blue cup up, skirt <the bottle with smooth surface>, then place the medium-sized plastic blue cup onto <the flat surface gray wooden coaster>.",
+    "Use an arm, take the smooth blue drinking cup past the blue top shampoo bottle without nearing it, and rest the smooth blue drinking cup on the wooden coaster.",
+    "Use an arm, pick the blue rounded-bottom cup up, pass around the white shampoo bottle, then place the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Pick up the cup for holding liquids, avoid the shampoo bottle with blue cap along the way, and place the cup for holding liquids on the small coaster with grain texture.",
+    "Use an arm to grab the cup with light blue color, avoid the handheld shampoo container, and set the cup with light blue color down on the flat surface gray wooden coaster.",
+    "Use the arm to move the light blue plastic cup past <the bottle with hexagonal blue cap> and rest it on <the flat surface gray wooden coaster>.",
+    "Use an arm to lift the cup with smooth plastic surface, keep distance from <the bottle with smooth surface>, and set the cup with smooth plastic surface on <the grainy texture coaster>.",
+    "Using an arm, carry the cup with light blue color around the white and blue shampoo container and place the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Using an arm, pick the cup with smooth plastic surface up, skirt the curved shampoo bottle, and place the cup with smooth plastic surface on the round coaster.",
+    "Pick the rounded base blue cup up, route it away from the handheld shampoo container, and drop the rounded base blue cup onto the round coaster with light streaks.",
+    "Pick up the cup with smooth plastic surface, guide it past the bottle with smooth surface, and drop the cup with smooth plastic surface on the coaster with circular shape.",
+    "Lift the smooth blue drinking cup, pass beside <the bottle with smooth surface> without contact, then place the smooth blue drinking cup onto <the grainy texture coaster>.",
+    "Lift the cup for holding liquids, guide it around <the handheld shampoo container>, then put the cup for holding liquids onto <the grainy texture coaster>.",
+    "Secure the cylindrical light blue cup, move it around the blue top shampoo bottle, and place the cylindrical light blue cup squarely on the grainy texture coaster.",
+    "Take the smooth blue cup for liquids, route it away from the shampoo bottle with curved sides, and set the smooth blue cup for liquids onto the light gray round grainy coaster.",
+    "Move the cup with light blue color to <the light gray round grainy coaster> while keeping its path away from <the bottle with smooth surface>.",
+    "Use an arm to bring the medium blue cylindrical cup to the flat round wooden coaster, keeping the medium blue cylindrical cup clear of the plastic shampoo bottle.",
+    "Grab the cup with smooth plastic surface, route around the handheld shampoo container, then lower the cup with smooth plastic surface onto the flat surface gray wooden coaster.",
+    "Carry the plastic cup for drinks toward <the light gray round grainy coaster>, skirting <the blue top shampoo bottle>, and set the plastic cup for drinks down.",
+    "Move the smooth blue cup for liquids onto the flat surface gray wooden coaster while avoiding the white and blue shampoo container, then let go of the smooth blue cup for liquids.",
+    "With an arm, lift the medium-sized plastic blue cup, guide it past the plastic shampoo with orange label, and put the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Use an arm: grab the plastic cup for drinks, avoid the white and blue shampoo container on the way, then set the plastic cup for drinks on the small coaster with grain texture.",
+    "Carry the smooth blue cup for liquids toward <the flat surface gray wooden coaster>, keeping the path clear of <the shampoo bottle with blue cap>, then set down.",
+    "Secure the medium blue cylindrical cup, keep its path away from the blue top shampoo bottle, and set the medium blue cylindrical cup on the flat surface gray wooden coaster.",
+    "Use an arm to lift the smooth blue drinking cup, arc around the shampoo bottle with blue cap, and place the smooth blue drinking cup atop the round coaster with light streaks.",
+    "Lift the plastic cup for drinks, guide it past the shampoo bottle with curved sides, and rest the plastic cup for drinks on the round coaster with light streaks."
+  ],
+  "unseen": [
+    "Grab the small smooth cup, guide it around <the white shampoo with orange design>, and place it on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container in white and blue>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the blue-capped shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white shampoo with orange design, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the white shampoo with orange design, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the blue-capped shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container in white and blue, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the blue-capped shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the blue-capped shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo container in white and blue>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white shampoo with orange design, and place it on the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the blue-capped shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo container in white and blue>, and place it on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the white shampoo with orange design>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the white shampoo with orange design, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the blue-capped shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the blue-capped shampoo bottle, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white shampoo with orange design>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo container in white and blue, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the white shampoo with orange design, then set the small smooth cup down on the light gray coaster.",
+    "Grab the blue cup, route it around <the blue-capped shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the white shampoo with orange design, and place it on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the blue-capped shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the blue-capped shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container in white and blue, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the white shampoo with orange design, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the blue-capped shampoo bottle>, and place the small smooth cup on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the white shampoo with orange design, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the blue-capped shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the blue cup, route it around <the blue-capped shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container in white and blue, and place it on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the blue-capped shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the white shampoo with orange design>, and place it on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the white shampoo with orange design>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container in white and blue, and set it on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the blue-capped shampoo bottle, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo container in white and blue, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white shampoo with orange design>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the blue-capped shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container in white and blue>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the white shampoo with orange design, and place it on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the white shampoo with orange design>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container in white and blue>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the white shampoo with orange design, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the white shampoo with orange design, and place the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo container in white and blue, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container in white and blue>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container in white and blue, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the blue-capped shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the blue-capped shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the blue-capped shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container in white and blue, and place it on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the white shampoo with orange design>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the shampoo container in white and blue>, and place it on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the white shampoo with orange design>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo container in white and blue, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container in white and blue, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container in white and blue, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the blue-capped shampoo bottle, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container in white and blue>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the white shampoo with orange design, then place the blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the white shampoo with orange design>, then set the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo container in white and blue, then set the small smooth cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the white shampoo with orange design>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the blue-capped shampoo bottle, and place it on the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the blue-capped shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the blue-capped shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the blue-capped shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container in white and blue, and place the small smooth cup on the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode63.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode63.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e0179b310002e04125e070a6cbbe2819112c31a
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode63.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the cup with light blue color, keep its path away from the smooth pink plastic shampoo bottle, and drop the cup with light blue color on the coaster made of smooth wood.",
+    "Use an arm, take the medium-sized plastic blue cup, avoid <the medium pink bottle for shampoo> on the way, and set on <the round coaster with light streaks>.",
+    "Pick up the rounded base blue cup, keep its path away from <the plastic shampoo bottle with black pump>, and set the rounded base blue cup on <the light gray streaked wooden coaster>.",
+    "With an arm, lift the blue rounded-bottom cup, avoid <the pink bottle with narrow top> on the way, and drop the blue rounded-bottom cup on <the smooth round palm-sized coaster>.",
+    "Lift the cup for holding liquids, guide it around <the medium pink bottle for shampoo>, then put the cup for holding liquids onto <the coaster made of smooth wood>.",
+    "Take the blue rounded-bottom cup, swing wide of the pink bottle with black dispenser, then rest the blue rounded-bottom cup on the round coaster.",
+    "Move the cup for holding liquids onto the coaster with circular shape while avoiding the pink shampoo bottle, then let go of the cup for holding liquids.",
+    "Use an arm to grab the cup for holding liquids, avoid the pink shampoo container with pump top, and set the cup for holding liquids down on the light gray round grainy coaster.",
+    "With an arm, lift the smooth blue drinking cup, avoid the hand-sized pink shampoo container, and set the smooth blue drinking cup onto the wooden coaster.",
+    "Move the smooth blue cup for liquids to the small coaster with grain texture while avoiding the shampoo bottle with shiny pink body, then place the smooth blue cup for liquids on the small coaster with grain texture.",
+    "With an arm, lift the cup for holding liquids, route past <the rectangular pink shampoo container>, and drop the cup for holding liquids onto <the light gray streaked wooden coaster>.",
+    "Use an arm to lift the cup for holding liquids, keep distance from <the shampoo bottle with shiny pink body>, and set the cup for holding liquids on <the light gray round grainy coaster>.",
+    "Pick up the cup with light blue color, guide it past the pink shampoo container with pump top, and drop the cup with light blue color on the round coaster with light streaks.",
+    "Carry the rounded base blue cup toward <the smooth round palm-sized coaster>, keeping the path clear of <the shampoo bottle with rectangular shape>, then set down.",
+    "With an arm, lift the medium-sized plastic blue cup, guide it past the pink bottle with black dispenser, and put the medium-sized plastic blue cup on the grainy texture coaster.",
+    "Pick up the medium blue cylindrical cup, route it away from the smooth pink plastic shampoo bottle, then set the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Using an arm, grasp the medium-sized plastic blue cup, skirt the pink bottle with narrow top, and place the medium-sized plastic blue cup atop the light gray streaked wooden coaster.",
+    "Use an arm to take the medium-sized plastic blue cup around <the rectangular pink shampoo container> and place the medium-sized plastic blue cup on <the light gray streaked wooden coaster>.",
+    "Lift the cup for holding liquids, pass beside <the pink shampoo bottle> without contact, then place the cup for holding liquids onto <the coaster made of smooth wood>.",
+    "Move the light blue plastic cup to <the light gray round grainy coaster> while keeping its path away from <the plastic shampoo bottle with black pump>.",
+    "Use the arm to move the cup for holding liquids past <the plastic shampoo bottle with black pump> and rest it on <the light gray round grainy coaster>.",
+    "Lift the medium-sized plastic blue cup, route it away from the plastic shampoo bottle with black pump, then put the medium-sized plastic blue cup squarely on the light gray streaked wooden coaster.",
+    "With an arm, lift the cup for holding liquids, keep it away from the smooth pink plastic shampoo bottle, and drop it onto the grainy texture coaster.",
+    "Take the medium blue cylindrical cup in the arm, route around <the shampoo bottle with shiny pink body>, and set it on <the coaster made of smooth wood>.",
+    "Grab the medium-sized plastic blue cup, guide it away from the pink shampoo container with pump top, and set the medium-sized plastic blue cup neatly on the flat surface gray wooden coaster.",
+    "Slide the smooth blue drinking cup toward the wooden coaster, detouring around the medium pink bottle for shampoo, then set the smooth blue drinking cup down.",
+    "Take the smooth blue cup for liquids to the coaster made of smooth wood while skirting the rectangular pink bottle with dispenser, then release the smooth blue cup for liquids on the coaster made of smooth wood.",
+    "Use an arm to lift the cylindrical light blue cup, arc around the pink shampoo bottle, and place the cylindrical light blue cup atop the flat surface gray wooden coaster.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the smooth pink plastic shampoo bottle, and place the cylindrical light blue cup on the round coaster with light streaks.",
+    "Secure the rounded base blue cup, move it around the pink bottle with narrow top, and place the rounded base blue cup squarely on the smooth round palm-sized coaster.",
+    "Grab the cup for holding liquids, swing it away from <the pink bottle with black dispenser>, and place the cup for holding liquids on <the flat surface gray wooden coaster>.",
+    "Lift the plastic cup for drinks, carry it around the pink bottle with narrow top, and place the plastic cup for drinks squarely on the small coaster with grain texture.",
+    "With an arm, pick the cup with smooth plastic surface up, bypass <the plastic shampoo bottle with black pump>, then place the cup with smooth plastic surface on <the round coaster>.",
+    "Move the cup with smooth plastic surface to the round coaster without crossing the smooth pink plastic shampoo bottle, then release the cup with smooth plastic surface.",
+    "Using an arm, carry the smooth blue cup for liquids past <the pink bottle with black dispenser> and place the smooth blue cup for liquids squarely on <the round coaster>.",
+    "Carry the smooth blue cup for liquids toward the light gray streaked wooden coaster, keeping the smooth blue cup for liquids away from the pink bottle with black dispenser, then set down.",
+    "Carry the rounded base blue cup toward <the round coaster with light streaks>, skirting <the shampoo bottle with rectangular shape>, and set the rounded base blue cup down.",
+    "Use the arm to carry the medium blue cylindrical cup around the medium pink bottle for shampoo, then rest the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "With an arm, lift the cylindrical light blue cup, avoid the medium pink bottle for shampoo, and place the cylindrical light blue cup on the coaster with circular shape.",
+    "Use an arm: grab the rounded base blue cup, avoid the rectangular pink bottle with dispenser on the way, then set the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Pick up the cup with smooth plastic surface, avoid the plastic shampoo bottle with black pump along the way, and place the cup with smooth plastic surface on the round coaster.",
+    "Lift the plastic cup for drinks, keep clear of the rectangular pink shampoo container, and put the plastic cup for drinks down on the round coaster with light streaks.",
+    "Use an arm: pick the cup with light blue color up, skirt <the hand-sized pink shampoo container>, then place the cup with light blue color onto <the flat round wooden coaster>.",
+    "Using an arm, move the cup for holding liquids to <the wooden coaster> while avoiding <the pink shampoo bottle>, then release the cup for holding liquids.",
+    "Use an arm to move the smooth blue cup for liquids to the smooth round palm-sized coaster, keeping the smooth blue cup for liquids from bumping the rectangular pink bottle with dispenser.",
+    "With an arm, move the medium-sized plastic blue cup past the pink shampoo container with pump top and place the medium-sized plastic blue cup on the small coaster with grain texture.",
+    "Use an arm: take the cup for holding liquids, avoid the shampoo bottle with rectangular shape during the move, and drop it on the coaster with circular shape.",
+    "Take the cup with smooth plastic surface, guide it away from <the rectangular pink bottle with dispenser>, and place the cup with smooth plastic surface squarely on <the wooden coaster>.",
+    "Using an arm, carry the smooth blue cup for liquids around the pink shampoo bottle and place the smooth blue cup for liquids onto the round coaster.",
+    "Guide the light blue plastic cup with the arm around <the medium pink bottle for shampoo> and onto <the round coaster>.",
+    "Take the plastic cup for drinks, arc around <the rectangular pink shampoo container>, and place the plastic cup for drinks neatly on <the coaster made of smooth wood>.",
+    "Use an arm to move the medium-sized plastic blue cup toward the coaster with circular shape, keeping the medium-sized plastic blue cup clear of the plastic shampoo bottle with black pump.",
+    "Using an arm, pick the cup with smooth plastic surface up, skirt the hand-sized pink shampoo container, and place the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Use an arm to bring the light blue plastic cup to the flat round wooden coaster, keeping the light blue plastic cup clear of the shampoo bottle with shiny pink body.",
+    "Use an arm, take the cup for holding liquids past the shampoo bottle with rectangular shape without nearing it, and rest the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Lift the medium-sized plastic blue cup, pass by the plastic shampoo bottle with black pump without contact, then place the medium-sized plastic blue cup on the flat round wooden coaster.",
+    "Grab the cup for holding liquids, route around the medium pink bottle for shampoo, then lower the cup for holding liquids onto the light gray streaked wooden coaster.",
+    "Slide the cup with light blue color over to <the coaster with circular shape> without passing near <the rectangular pink shampoo container>.",
+    "Move the cylindrical light blue cup to <the small coaster with grain texture> while keeping the cylindrical light blue cup away from <the rectangular pink bottle with dispenser>, then release.",
+    "With an arm, take the rounded base blue cup, avoid the plastic shampoo bottle with black pump, and put the rounded base blue cup on the coaster made of smooth wood.",
+    "Arm-lift the blue rounded-bottom cup, swing around <the smooth pink plastic shampoo bottle>, then place the blue rounded-bottom cup onto <the flat surface gray wooden coaster>.",
+    "Take the cup with light blue color, route it away from the pink shampoo bottle, and set the cup with light blue color onto the coaster made of smooth wood.",
+    "Pick the cup for holding liquids up, route it away from the smooth pink plastic shampoo bottle, and drop the cup for holding liquids onto the light gray streaked wooden coaster.",
+    "With an arm, bring the smooth blue drinking cup over to <the wooden coaster> and keep clear of <the rectangular pink shampoo container>.",
+    "Move the plastic cup for drinks onto <the round coaster> and ensure the path stays away from <the pink bottle with narrow top>.",
+    "Lift the medium blue cylindrical cup, go around the rectangular pink shampoo container, and position the medium blue cylindrical cup squarely on the smooth round palm-sized coaster.",
+    "Lift the blue rounded-bottom cup, arc around the shampoo bottle with shiny pink body, and place the blue rounded-bottom cup squarely on the flat surface gray wooden coaster.",
+    "Use the arm to lift the light blue plastic cup, pass the pink bottle with black dispenser, and place the light blue plastic cup on the small coaster with grain texture.",
+    "Secure the cup with light blue color, keep its path away from the plastic shampoo bottle with black pump, and set the cup with light blue color on the round coaster.",
+    "Lift the medium blue cylindrical cup, steer away from <the pink bottle with black dispenser>, then place the medium blue cylindrical cup on <the grainy texture coaster>.",
+    "Take the cup with smooth plastic surface, keep its path away from the shampoo bottle with shiny pink body, and place the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Carry the medium-sized plastic blue cup toward <the coaster with circular shape>, keeping clear of <the medium pink bottle for shampoo>, and set the medium-sized plastic blue cup down.",
+    "Move the plastic cup for drinks onto the round coaster with light streaks while avoiding the pink bottle with black dispenser, then let go of the plastic cup for drinks.",
+    "Use an arm to move the blue rounded-bottom cup around the rectangular pink bottle with dispenser and rest the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Use an arm, pick the cylindrical light blue cup up, pass around the pink shampoo bottle, then place the cylindrical light blue cup on the grainy texture coaster.",
+    "Move the smooth blue cup for liquids toward the flat surface gray wooden coaster without passing near the shampoo bottle with rectangular shape, then set it down.",
+    "Lift the blue rounded-bottom cup, guide it past the pink shampoo bottle, and rest the blue rounded-bottom cup on the round coaster.",
+    "Use an arm: grasp the blue rounded-bottom cup, avoid <the medium pink bottle for shampoo>, and place the blue rounded-bottom cup on <the coaster with circular shape>.",
+    "Pick up the smooth blue cup for liquids, keep clear of <the hand-sized pink shampoo container>, and drop the smooth blue cup for liquids onto <the light gray streaked wooden coaster>.",
+    "Use an arm, keep the cup for holding liquids from the pink bottle with narrow top, and lower the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Take the medium-sized plastic blue cup, keep its path away from the rectangular pink bottle with dispenser, and drop the medium-sized plastic blue cup on the light gray streaked wooden coaster.",
+    "Use an arm, take the light blue plastic cup, avoid <the pink shampoo bottle> on the way, and set on <the smooth round palm-sized coaster>.",
+    "Pick up the rounded base blue cup, keep its path away from <the pink bottle with narrow top>, and set the rounded base blue cup on <the light gray streaked wooden coaster>.",
+    "With an arm, lift the cup with light blue color, avoid <the pink shampoo container with pump top> on the way, and drop the cup with light blue color on <the small coaster with grain texture>.",
+    "Lift the cup for holding liquids, guide it around <the smooth pink plastic shampoo bottle>, then put the cup for holding liquids onto <the flat round wooden coaster>.",
+    "Take the rounded base blue cup, swing wide of the pink bottle with narrow top, then rest the rounded base blue cup on the small coaster with grain texture.",
+    "Move the blue rounded-bottom cup onto the light gray round grainy coaster while avoiding the medium pink bottle for shampoo, then let go of the blue rounded-bottom cup.",
+    "Use an arm to grab the cylindrical light blue cup, avoid the hand-sized pink shampoo container, and set the cylindrical light blue cup down on the small coaster with grain texture.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the plastic shampoo bottle with black pump, and set the blue rounded-bottom cup onto the small coaster with grain texture.",
+    "Move the medium blue cylindrical cup to the coaster with circular shape while avoiding the hand-sized pink shampoo container, then place the medium blue cylindrical cup on the coaster with circular shape.",
+    "With an arm, lift the cylindrical light blue cup, route past <the smooth pink plastic shampoo bottle>, and drop the cylindrical light blue cup onto <the round coaster>.",
+    "Use an arm to lift the smooth blue drinking cup, keep distance from <the pink shampoo container with pump top>, and set the smooth blue drinking cup on <the flat round wooden coaster>.",
+    "Pick up the cup for holding liquids, guide it past the pink shampoo container with pump top, and drop the cup for holding liquids on the light gray round grainy coaster.",
+    "Carry the cup with smooth plastic surface toward <the small coaster with grain texture>, keeping the path clear of <the plastic shampoo bottle with black pump>, then set down.",
+    "With an arm, lift the medium-sized plastic blue cup, guide it past the rectangular pink shampoo container, and put the medium-sized plastic blue cup on the coaster with circular shape.",
+    "Pick up the plastic cup for drinks, route it away from the shampoo bottle with rectangular shape, then set the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Using an arm, grasp the cup with smooth plastic surface, skirt the smooth pink plastic shampoo bottle, and place the cup with smooth plastic surface atop the small coaster with grain texture.",
+    "Use an arm to take the medium-sized plastic blue cup around <the rectangular pink bottle with dispenser> and place the medium-sized plastic blue cup on <the grainy texture coaster>.",
+    "Lift the light blue plastic cup, pass beside <the smooth pink plastic shampoo bottle> without contact, then place the light blue plastic cup onto <the light gray round grainy coaster>.",
+    "Move the plastic cup for drinks to <the round coaster> while keeping its path away from <the pink shampoo bottle>."
+  ],
+  "unseen": [
+    "Grab the blue cup, keep it clear of the plastic pink shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with black pump>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the glossy pink shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with black pump>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the plastic pink shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with black pump, then set the handheld round blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the glossy pink shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the plastic pink shampoo bottle, and place it on the light gray coaster.",
+    "Grab the blue cup, carry it around the plastic pink shampoo bottle, then set the blue cup down on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the glossy pink shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the plastic pink shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the glossy pink shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the plastic pink shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the plastic pink shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the glossy pink shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the glossy pink shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the glossy pink shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around <the plastic pink shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the glossy pink shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with black pump>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with black pump, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the plastic pink shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the glossy pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the plastic pink shampoo bottle, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the plastic pink shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the glossy pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with black pump, and place the handheld round blue cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the plastic pink shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the glossy pink shampoo bottle>, and place it on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the shampoo bottle with black pump>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the plastic pink shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, steer it around the plastic pink shampoo bottle, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the plastic pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with black pump, then set the handheld round blue cup down on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with black pump>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with black pump, and set it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the glossy pink shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with black pump, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the glossy pink shampoo bottle>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, guide it around <the shampoo bottle with black pump>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with black pump>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with black pump>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the glossy pink shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with black pump>, then set the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the glossy pink shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the plastic pink shampoo bottle, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the glossy pink shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the glossy pink shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle with black pump, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with black pump, and set the blue cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with black pump, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the plastic pink shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with black pump>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the plastic pink shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the glossy pink shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the shampoo bottle with black pump>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with black pump, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the glossy pink shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the glossy pink shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the glossy pink shampoo bottle, and place it on the light gray coaster.",
+    "Grab the blue cup, carry it around the glossy pink shampoo bottle, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with black pump>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle with black pump, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the plastic pink shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with black pump, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the plastic pink shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the plastic pink shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with black pump>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the glossy pink shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with black pump, then set the handheld round blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with black pump>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with black pump, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the plastic pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the glossy pink shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the glossy pink shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the plastic pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with black pump, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with black pump, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with black pump, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the glossy pink shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with black pump>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the plastic pink shampoo bottle>, and place it on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the plastic pink shampoo bottle>, then place the blue cup onto <the light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode64.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode64.json
new file mode 100644
index 0000000000000000000000000000000000000000..f90286d04fdc0a530b5f93d2c99793eff1991842
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode64.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With an arm, lift the rounded base blue cup, guide it past the white body pink flip cap bottle, and put the rounded base blue cup on the round coaster.",
+    "Lift the blue rounded-bottom cup, keep clear of the pink-topped shampoo bottle, and put the blue rounded-bottom cup down on the flat surface gray wooden coaster.",
+    "Slide the smooth blue drinking cup toward the grainy texture coaster, detouring around the shampoo dispenser with flat base, then set the smooth blue drinking cup down.",
+    "Move the medium blue cylindrical cup to <the light gray streaked wooden coaster> while keeping its path away from <the white shampoo bottle>.",
+    "Carry the smooth blue drinking cup toward <the round coaster with light streaks>, keeping clear of <the shampoo dispenser with flat base>, and set the smooth blue drinking cup down.",
+    "Use an arm: take the smooth blue drinking cup, avoid the white body pink flip cap bottle during the move, and drop it on the flat surface gray wooden coaster.",
+    "With an arm, lift the rounded base blue cup, avoid the plastic shampoo container, and place the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Using an arm, pick the rounded base blue cup up, skirt the oval-shaped shampoo bottle, and place the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Use an arm, pick the blue rounded-bottom cup up, pass around the white body pink flip cap bottle, then place the blue rounded-bottom cup on the wooden coaster.",
+    "Lift the medium blue cylindrical cup, steer away from <the medium oval plastic shampoo container>, then place the medium blue cylindrical cup on <the light gray streaked wooden coaster>.",
+    "Use the arm to lift the medium-sized plastic blue cup, pass the pink-topped shampoo bottle, and place the medium-sized plastic blue cup on the round coaster with light streaks.",
+    "Grab the medium-sized plastic blue cup, swing it away from <the smooth white shampoo dispenser>, and place the medium-sized plastic blue cup on <the grainy texture coaster>.",
+    "Pick up the cup with light blue color, keep its path away from <the pink-topped shampoo bottle>, and set the cup with light blue color on <the flat round wooden coaster>.",
+    "Move the cylindrical light blue cup to the coaster made of smooth wood without crossing the white body pink flip cap bottle, then release the cylindrical light blue cup.",
+    "Using an arm, carry the rounded base blue cup past <the shampoo bottle with pink cap> and place the rounded base blue cup squarely on <the coaster with circular shape>.",
+    "Use an arm, take the rounded base blue cup past the medium shampoo bottle without nearing it, and rest the rounded base blue cup on the light gray streaked wooden coaster.",
+    "With an arm, move the smooth blue cup for liquids past the white shampoo bottle and place the smooth blue cup for liquids on the light gray streaked wooden coaster.",
+    "Using an arm, pick the cup for holding liquids up, skirt the smooth white shampoo dispenser, and place the cup for holding liquids on the small coaster with grain texture.",
+    "Pick up the plastic cup for drinks, guide it past the glossy white shampoo bottle, and drop the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Move the cylindrical light blue cup onto the light gray streaked wooden coaster while avoiding the hand-sized shampoo bottle, then let go of the cylindrical light blue cup.",
+    "Lift the cylindrical light blue cup, guide it around <the oval-shaped shampoo bottle>, then put the cylindrical light blue cup onto <the small coaster with grain texture>.",
+    "Using an arm, move the cup with smooth plastic surface to <the wooden coaster> while avoiding <the shampoo dispenser with flat base>, then release the cup with smooth plastic surface.",
+    "Take the plastic cup for drinks, route it away from the pink-topped shampoo bottle, and set the plastic cup for drinks onto the round coaster with light streaks.",
+    "Secure the cylindrical light blue cup, move it around the pink-topped shampoo bottle, and place the cylindrical light blue cup squarely on the wooden coaster.",
+    "Using an arm, carry the blue rounded-bottom cup around the hand-sized shampoo bottle and place the blue rounded-bottom cup onto the flat surface gray wooden coaster.",
+    "Use the arm to carry the plastic cup for drinks around the white shampoo bottle, then rest the plastic cup for drinks on the wooden coaster.",
+    "Take the plastic cup for drinks, guide it away from <the shampoo dispenser with flat base>, and place the plastic cup for drinks squarely on <the flat round wooden coaster>.",
+    "Use an arm to lift the cup with light blue color, keep distance from <the shampoo bottle with pink cap>, and set the cup with light blue color on <the coaster made of smooth wood>.",
+    "With an arm, lift the rounded base blue cup, avoid the medium shampoo bottle, and set the rounded base blue cup onto the light gray round grainy coaster.",
+    "Use an arm to move the light blue plastic cup to the smooth round palm-sized coaster, keeping the light blue plastic cup from bumping the shampoo bottle with pink cap.",
+    "Use the arm to move the cup with smooth plastic surface past <the glossy white shampoo bottle> and rest it on <the coaster with circular shape>.",
+    "Using an arm, grasp the light blue plastic cup, skirt the smooth white shampoo dispenser, and place the light blue plastic cup atop the light gray streaked wooden coaster.",
+    "Move the blue rounded-bottom cup onto the flat surface gray wooden coaster while avoiding the white body pink flip cap bottle, then let go of the blue rounded-bottom cup.",
+    "Secure the cylindrical light blue cup, keep its path away from the shampoo bottle with pink cap, and set the cylindrical light blue cup on the small coaster with grain texture.",
+    "Use an arm, take the medium blue cylindrical cup, avoid <the medium shampoo bottle> on the way, and set on <the round coaster with light streaks>.",
+    "Lift the cup with smooth plastic surface, arc around the pink-topped shampoo bottle, and place the cup with smooth plastic surface squarely on the light gray streaked wooden coaster.",
+    "With an arm, lift the plastic cup for drinks, avoid <the plastic shampoo container> on the way, and drop the plastic cup for drinks on <the small coaster with grain texture>.",
+    "Take the light blue plastic cup to the small coaster with grain texture while skirting the plastic shampoo container, then release the light blue plastic cup on the small coaster with grain texture.",
+    "Lift the blue rounded-bottom cup, route it away from the plastic shampoo container, then put the blue rounded-bottom cup squarely on the flat surface gray wooden coaster.",
+    "Use an arm to move the smooth blue drinking cup around the medium shampoo bottle and rest the smooth blue drinking cup on the round coaster with light streaks.",
+    "Lift the cup with smooth plastic surface, pass beside <the shampoo bottle with pink cap> without contact, then place the cup with smooth plastic surface onto <the coaster with circular shape>.",
+    "Guide the light blue plastic cup with the arm around <the medium shampoo bottle> and onto <the coaster with circular shape>.",
+    "Use an arm to move the light blue plastic cup toward the round coaster with light streaks, keeping the light blue plastic cup clear of the oval-shaped shampoo bottle.",
+    "Move the smooth blue cup for liquids to the round coaster while avoiding the pink-topped shampoo bottle, then place the smooth blue cup for liquids on the round coaster.",
+    "Take the medium blue cylindrical cup, swing wide of the smooth white shampoo dispenser, then rest the medium blue cylindrical cup on the round coaster.",
+    "Use an arm: grasp the medium-sized plastic blue cup, avoid <the smooth white shampoo dispenser>, and place the medium-sized plastic blue cup on <the light gray streaked wooden coaster>.",
+    "Pick up the cup for holding liquids, route it away from the shampoo bottle with pink cap, then set the cup for holding liquids on the coaster with circular shape.",
+    "Take the plastic cup for drinks, arc around <the shampoo dispenser with flat base>, and place the plastic cup for drinks neatly on <the flat surface gray wooden coaster>.",
+    "Use an arm: pick the rounded base blue cup up, skirt <the white body pink flip cap bottle>, then place the rounded base blue cup onto <the flat round wooden coaster>.",
+    "With an arm, take the cup with smooth plastic surface, avoid the oval-shaped shampoo bottle, and put the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Use an arm: grab the smooth blue drinking cup, avoid the white shampoo bottle on the way, then set the smooth blue drinking cup on the light gray round grainy coaster.",
+    "Carry the rounded base blue cup toward <the light gray streaked wooden coaster>, skirting <the white shampoo bottle>, and set the rounded base blue cup down.",
+    "Arm-lift the medium blue cylindrical cup, swing around <the glossy white shampoo bottle>, then place the medium blue cylindrical cup onto <the smooth round palm-sized coaster>.",
+    "With an arm, lift the smooth blue drinking cup, keep it away from the medium oval plastic shampoo container, and drop it onto the round coaster with light streaks.",
+    "Lift the smooth blue drinking cup, carry it around the glossy white shampoo bottle, and place the smooth blue drinking cup squarely on the small coaster with grain texture.",
+    "With an arm, lift the cylindrical light blue cup, route past <the white shampoo bottle>, and drop the cylindrical light blue cup onto <the grainy texture coaster>.",
+    "Lift the medium-sized plastic blue cup, go around the glossy white shampoo bottle, and position the medium-sized plastic blue cup squarely on the round coaster.",
+    "Use an arm to lift the cup with smooth plastic surface, arc around the medium shampoo bottle, and place the cup with smooth plastic surface atop the round coaster.",
+    "Take the cup with smooth plastic surface, keep its path away from the medium oval plastic shampoo container, and place the cup with smooth plastic surface on the wooden coaster.",
+    "Pick up the light blue plastic cup, avoid the hand-sized shampoo bottle along the way, and place the light blue plastic cup on the flat round wooden coaster.",
+    "Move the smooth blue cup for liquids to <the round coaster> while keeping the smooth blue cup for liquids away from <the plastic shampoo container>, then release.",
+    "Pick the light blue plastic cup up, route it away from the glossy white shampoo bottle, and drop the light blue plastic cup onto the smooth round palm-sized coaster.",
+    "Slide the smooth blue cup for liquids over to <the small coaster with grain texture> without passing near <the white shampoo bottle>.",
+    "With an arm, bring the smooth blue cup for liquids over to <the coaster made of smooth wood> and keep clear of <the medium shampoo bottle>.",
+    "Lift the cup for holding liquids, pass by the medium shampoo bottle without contact, then place the cup for holding liquids on the coaster made of smooth wood.",
+    "Pick up the medium-sized plastic blue cup, keep clear of <the medium oval plastic shampoo container>, and drop the medium-sized plastic blue cup onto <the grainy texture coaster>.",
+    "Lift the cup with smooth plastic surface, guide it past the white body pink flip cap bottle, and rest the cup with smooth plastic surface on the small coaster with grain texture.",
+    "Carry the smooth blue cup for liquids toward the smooth round palm-sized coaster, keeping the smooth blue cup for liquids away from the white shampoo bottle, then set down.",
+    "Move the medium blue cylindrical cup onto <the round coaster with light streaks> and ensure the path stays away from <the white shampoo bottle>.",
+    "Use an arm to bring the cylindrical light blue cup to the small coaster with grain texture, keeping the cylindrical light blue cup clear of the medium oval plastic shampoo container.",
+    "Grab the medium blue cylindrical cup, route around the white body pink flip cap bottle, then lower the medium blue cylindrical cup onto the coaster made of smooth wood.",
+    "Use an arm, keep the smooth blue cup for liquids from the glossy white shampoo bottle, and lower the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Use an arm to take the light blue plastic cup around <the plastic shampoo container> and place the light blue plastic cup on <the coaster made of smooth wood>.",
+    "Grab the rounded base blue cup, guide it away from the medium shampoo bottle, and set the rounded base blue cup neatly on the small coaster with grain texture.",
+    "Carry the medium blue cylindrical cup toward <the small coaster with grain texture>, keeping the path clear of <the glossy white shampoo bottle>, then set down.",
+    "With an arm, pick the rounded base blue cup up, bypass <the smooth white shampoo dispenser>, then place the rounded base blue cup on <the wooden coaster>.",
+    "Move the medium-sized plastic blue cup toward the round coaster with light streaks without passing near the plastic shampoo container, then set it down.",
+    "Take the blue rounded-bottom cup, keep its path away from the medium shampoo bottle, and drop the blue rounded-bottom cup on the coaster with circular shape.",
+    "Take the light blue plastic cup in the arm, route around <the medium oval plastic shampoo container>, and set it on <the smooth round palm-sized coaster>.",
+    "Use an arm to grab the plastic cup for drinks, avoid the glossy white shampoo bottle, and set the plastic cup for drinks down on the flat surface gray wooden coaster.",
+    "With an arm, lift the plastic cup for drinks, guide it past the medium shampoo bottle, and put the plastic cup for drinks on the wooden coaster.",
+    "Lift the smooth blue cup for liquids, keep clear of the smooth white shampoo dispenser, and put the smooth blue cup for liquids down on the flat round wooden coaster.",
+    "Slide the medium blue cylindrical cup toward the smooth round palm-sized coaster, detouring around the white body pink flip cap bottle, then set the medium blue cylindrical cup down.",
+    "Move the cup with smooth plastic surface to <the grainy texture coaster> while keeping its path away from <the shampoo dispenser with flat base>.",
+    "Carry the medium blue cylindrical cup toward <the smooth round palm-sized coaster>, keeping clear of <the oval-shaped shampoo bottle>, and set the medium blue cylindrical cup down.",
+    "Use an arm: take the medium blue cylindrical cup, avoid the medium oval plastic shampoo container during the move, and drop it on the small coaster with grain texture.",
+    "With an arm, lift the medium blue cylindrical cup, avoid the smooth white shampoo dispenser, and place the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the oval-shaped shampoo bottle, and place the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Use an arm, pick the smooth blue cup for liquids up, pass around the smooth white shampoo dispenser, then place the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "Lift the cup with light blue color, steer away from <the shampoo bottle with pink cap>, then place the cup with light blue color on <the wooden coaster>.",
+    "Use the arm to lift the medium-sized plastic blue cup, pass the white body pink flip cap bottle, and place the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Grab the light blue plastic cup, swing it away from <the plastic shampoo container>, and place the light blue plastic cup on <the flat surface gray wooden coaster>.",
+    "Pick up the plastic cup for drinks, keep its path away from <the shampoo bottle with pink cap>, and set the plastic cup for drinks on <the light gray streaked wooden coaster>.",
+    "Move the rounded base blue cup to the wooden coaster without crossing the white body pink flip cap bottle, then release the rounded base blue cup.",
+    "Using an arm, carry the cup with light blue color past <the shampoo bottle with pink cap> and place the cup with light blue color squarely on <the flat surface gray wooden coaster>.",
+    "Use an arm, take the rounded base blue cup past the pink-topped shampoo bottle without nearing it, and rest the rounded base blue cup on the coaster made of smooth wood.",
+    "With an arm, move the medium-sized plastic blue cup past the pink-topped shampoo bottle and place the medium-sized plastic blue cup on the grainy texture coaster.",
+    "Using an arm, pick the medium blue cylindrical cup up, skirt the smooth white shampoo dispenser, and place the medium blue cylindrical cup on the wooden coaster.",
+    "Pick up the plastic cup for drinks, guide it past the shampoo bottle with pink cap, and drop the plastic cup for drinks on the coaster with circular shape.",
+    "Move the cup with light blue color onto the light gray streaked wooden coaster while avoiding the shampoo bottle with pink cap, then let go of the cup with light blue color."
+  ],
+  "unseen": [
+    "Grab the small smooth cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, route it around <the Dove shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo bottle with Dove logo, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the bottle for holding shampoo>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the bottle for holding shampoo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle with Dove logo, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the Dove shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with Dove logo, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with Dove logo, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the Dove shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the Dove shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with Dove logo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the Dove shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with Dove logo>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with Dove logo>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the Dove shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the Dove shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the shampoo bottle with Dove logo, then set the blue cup down on the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the bottle for holding shampoo>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the Dove shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with Dove logo, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the Dove shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with Dove logo, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the bottle for holding shampoo>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with Dove logo>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with Dove logo>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the Dove shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo bottle with Dove logo, then set the blue cup down on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with Dove logo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the bottle for holding shampoo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the Dove shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the Dove shampoo bottle, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the bottle for holding shampoo, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the bottle for holding shampoo, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with Dove logo, and set the small smooth cup on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with Dove logo>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with Dove logo>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with Dove logo>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the Dove shampoo bottle>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the bottle for holding shampoo>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the bottle for holding shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the Dove shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the bottle for holding shampoo>, then set the blue cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the Dove shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the bottle for holding shampoo, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the bottle for holding shampoo, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the Dove shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with Dove logo, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the bottle for holding shampoo>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the Dove shampoo bottle>, and set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the Dove shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the bottle for holding shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, route it around <the Dove shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the Dove shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with Dove logo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the bottle for holding shampoo, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the bottle for holding shampoo, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the bottle for holding shampoo, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with Dove logo, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with Dove logo, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the Dove shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the Dove shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the Dove shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the bottle for holding shampoo>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the bottle for holding shampoo>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the bottle for holding shampoo>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with Dove logo>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the Dove shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the shampoo bottle with Dove logo, then set the small smooth cup down on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the bottle for holding shampoo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the bottle for holding shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with Dove logo, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the bottle for holding shampoo, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the Dove shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with Dove logo, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the Dove shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the Dove shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the bottle for holding shampoo, then place the blue cup onto the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the Dove shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around <the shampoo bottle with Dove logo>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with Dove logo>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode65.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode65.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ff0af03eaff1f97aba670b6933e42fe68ddc1f8
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode65.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium blue cylindrical cup, route it away from the plastic shampoo bottle with black pump, then put the medium blue cylindrical cup squarely on the flat round wooden coaster.",
+    "Slide the smooth blue drinking cup over to <the flat round wooden coaster> without passing near <the pink shampoo container with pump top>.",
+    "Move the medium-sized plastic blue cup to the wooden coaster without crossing the medium pink bottle for shampoo, then release the medium-sized plastic blue cup.",
+    "Slide the blue rounded-bottom cup toward the flat round wooden coaster, detouring around the plastic shampoo bottle with black pump, then set the blue rounded-bottom cup down.",
+    "Take the smooth blue drinking cup, swing wide of the rectangular pink shampoo container, then rest the smooth blue drinking cup on the coaster with circular shape.",
+    "Use the arm to move the cup for holding liquids past <the shampoo bottle with shiny pink body> and rest it on <the round coaster with light streaks>.",
+    "Using an arm, move the medium-sized plastic blue cup to <the small coaster with grain texture> while avoiding <the shampoo bottle with shiny pink body>, then release the medium-sized plastic blue cup.",
+    "Use an arm: pick the cup for holding liquids up, skirt <the smooth pink plastic shampoo bottle>, then place the cup for holding liquids onto <the smooth round palm-sized coaster>.",
+    "Use an arm to move the medium blue cylindrical cup around the shampoo bottle with rectangular shape and rest the medium blue cylindrical cup on the small coaster with grain texture.",
+    "With an arm, move the smooth blue cup for liquids past the hand-sized pink shampoo container and place the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "Pick up the light blue plastic cup, keep clear of <the rectangular pink bottle with dispenser>, and drop the light blue plastic cup onto <the round coaster>.",
+    "Lift the smooth blue cup for liquids, go around the pink bottle with black dispenser, and position the smooth blue cup for liquids squarely on the light gray streaked wooden coaster.",
+    "With an arm, pick the plastic cup for drinks up, bypass <the rectangular pink bottle with dispenser>, then place the plastic cup for drinks on <the flat surface gray wooden coaster>.",
+    "With an arm, lift the cup with smooth plastic surface, route past <the pink bottle with black dispenser>, and drop the cup with smooth plastic surface onto <the light gray round grainy coaster>.",
+    "Pick up the light blue plastic cup, route it away from the shampoo bottle with rectangular shape, then set the light blue plastic cup on the wooden coaster.",
+    "Move the cylindrical light blue cup onto <the smooth round palm-sized coaster> and ensure the path stays away from <the rectangular pink bottle with dispenser>.",
+    "Use an arm: take the light blue plastic cup, avoid the shampoo bottle with shiny pink body during the move, and drop it on the light gray streaked wooden coaster.",
+    "Move the light blue plastic cup onto the flat round wooden coaster while avoiding the shampoo bottle with shiny pink body, then let go of the light blue plastic cup.",
+    "Using an arm, grasp the cylindrical light blue cup, skirt the hand-sized pink shampoo container, and place the cylindrical light blue cup atop the round coaster with light streaks.",
+    "Using an arm, pick the smooth blue drinking cup up, skirt the rectangular pink bottle with dispenser, and place the smooth blue drinking cup on the small coaster with grain texture.",
+    "Use an arm: grab the cup with light blue color, avoid the hand-sized pink shampoo container on the way, then set the cup with light blue color on the flat surface gray wooden coaster.",
+    "Take the plastic cup for drinks to the grainy texture coaster while skirting the medium pink bottle for shampoo, then release the plastic cup for drinks on the grainy texture coaster.",
+    "Use the arm to lift the medium-sized plastic blue cup, pass the pink bottle with narrow top, and place the medium-sized plastic blue cup on the small coaster with grain texture.",
+    "Take the cup for holding liquids, keep its path away from the shampoo bottle with shiny pink body, and place the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Lift the smooth blue cup for liquids, keep clear of the rectangular pink bottle with dispenser, and put the smooth blue cup for liquids down on the round coaster with light streaks.",
+    "Using an arm, carry the cylindrical light blue cup around the pink bottle with narrow top and place the cylindrical light blue cup onto the round coaster.",
+    "Move the smooth blue drinking cup onto the coaster with circular shape while avoiding the medium pink bottle for shampoo, then let go of the smooth blue drinking cup.",
+    "Pick up the cup for holding liquids, keep its path away from <the pink shampoo bottle>, and set the cup for holding liquids on <the light gray streaked wooden coaster>.",
+    "Move the light blue plastic cup to <the grainy texture coaster> while keeping the light blue plastic cup away from <the medium pink bottle for shampoo>, then release.",
+    "Use an arm to take the medium blue cylindrical cup around <the shampoo bottle with shiny pink body> and place the medium blue cylindrical cup on <the light gray streaked wooden coaster>.",
+    "With an arm, lift the cup with light blue color, guide it past the shampoo bottle with shiny pink body, and put the cup with light blue color on the smooth round palm-sized coaster.",
+    "Lift the rounded base blue cup, pass beside <the pink shampoo container with pump top> without contact, then place the rounded base blue cup onto <the wooden coaster>.",
+    "Lift the smooth blue cup for liquids, guide it around <the hand-sized pink shampoo container>, then put the smooth blue cup for liquids onto <the round coaster>.",
+    "Carry the rounded base blue cup toward <the round coaster>, keeping the path clear of <the shampoo bottle with shiny pink body>, then set down.",
+    "Lift the cup with smooth plastic surface, arc around the pink shampoo bottle, and place the cup with smooth plastic surface squarely on the small coaster with grain texture.",
+    "Use an arm to bring the cup with light blue color to the grainy texture coaster, keeping the cup with light blue color clear of the medium pink bottle for shampoo.",
+    "Arm-lift the blue rounded-bottom cup, swing around <the rectangular pink bottle with dispenser>, then place the blue rounded-bottom cup onto <the light gray streaked wooden coaster>.",
+    "Use an arm to grab the smooth blue cup for liquids, avoid the smooth pink plastic shampoo bottle, and set the smooth blue cup for liquids down on the wooden coaster.",
+    "Guide the cylindrical light blue cup with the arm around <the smooth pink plastic shampoo bottle> and onto <the smooth round palm-sized coaster>.",
+    "Lift the blue rounded-bottom cup, guide it past the hand-sized pink shampoo container, and rest the blue rounded-bottom cup on the smooth round palm-sized coaster.",
+    "Lift the plastic cup for drinks, carry it around the shampoo bottle with shiny pink body, and place the plastic cup for drinks squarely on the light gray round grainy coaster.",
+    "With an arm, lift the rounded base blue cup, avoid <the pink bottle with narrow top> on the way, and drop the rounded base blue cup on <the round coaster>.",
+    "With an arm, take the smooth blue cup for liquids, avoid the pink shampoo container with pump top, and put the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Using an arm, carry the light blue plastic cup past <the rectangular pink shampoo container> and place the light blue plastic cup squarely on <the flat round wooden coaster>.",
+    "Use an arm: grasp the medium blue cylindrical cup, avoid <the shampoo bottle with rectangular shape>, and place the medium blue cylindrical cup on <the coaster made of smooth wood>.",
+    "Grab the smooth blue drinking cup, route around the shampoo bottle with shiny pink body, then lower the smooth blue drinking cup onto the flat round wooden coaster.",
+    "Use an arm, keep the cup with light blue color from the medium pink bottle for shampoo, and lower the cup with light blue color onto the small coaster with grain texture.",
+    "Carry the medium-sized plastic blue cup toward the smooth round palm-sized coaster, keeping the medium-sized plastic blue cup away from the shampoo bottle with rectangular shape, then set down.",
+    "Pick the cylindrical light blue cup up, route it away from the rectangular pink bottle with dispenser, and drop the cylindrical light blue cup onto the round coaster with light streaks.",
+    "Pick up the light blue plastic cup, guide it past the pink shampoo container with pump top, and drop the light blue plastic cup on the wooden coaster.",
+    "Use an arm, take the light blue plastic cup, avoid <the plastic shampoo bottle with black pump> on the way, and set on <the coaster with circular shape>.",
+    "With an arm, lift the blue rounded-bottom cup, keep it away from the shampoo bottle with rectangular shape, and drop it onto the light gray round grainy coaster.",
+    "Lift the cylindrical light blue cup, pass by the shampoo bottle with shiny pink body without contact, then place the cylindrical light blue cup on the coaster with circular shape.",
+    "Move the cylindrical light blue cup to the coaster made of smooth wood while avoiding the rectangular pink bottle with dispenser, then place the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Lift the plastic cup for drinks, steer away from <the shampoo bottle with shiny pink body>, then place the plastic cup for drinks on <the flat round wooden coaster>.",
+    "With an arm, bring the medium blue cylindrical cup over to <the flat round wooden coaster> and keep clear of <the shampoo bottle with shiny pink body>.",
+    "Take the medium-sized plastic blue cup in the arm, route around <the pink shampoo bottle>, and set it on <the flat surface gray wooden coaster>.",
+    "Use an arm, take the cup for holding liquids past the hand-sized pink shampoo container without nearing it, and rest the cup for holding liquids on the flat round wooden coaster.",
+    "Take the medium-sized plastic blue cup, route it away from the pink shampoo container with pump top, and set the medium-sized plastic blue cup onto the light gray streaked wooden coaster.",
+    "Move the cylindrical light blue cup toward the grainy texture coaster without passing near the plastic shampoo bottle with black pump, then set it down.",
+    "Use an arm to move the rounded base blue cup to the round coaster with light streaks, keeping the rounded base blue cup from bumping the rectangular pink shampoo container.",
+    "Using an arm, pick the medium blue cylindrical cup up, skirt the shampoo bottle with shiny pink body, and place the medium blue cylindrical cup on the round coaster with light streaks.",
+    "With an arm, lift the cup with light blue color, avoid the hand-sized pink shampoo container, and place the cup with light blue color on the smooth round palm-sized coaster.",
+    "Take the smooth blue cup for liquids, guide it away from <the hand-sized pink shampoo container>, and place the smooth blue cup for liquids squarely on <the small coaster with grain texture>.",
+    "Use an arm, pick the cup with light blue color up, pass around the hand-sized pink shampoo container, then place the cup with light blue color on the coaster with circular shape.",
+    "Pick up the medium blue cylindrical cup, avoid the rectangular pink bottle with dispenser along the way, and place the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Carry the light blue plastic cup toward <the light gray round grainy coaster>, keeping clear of <the smooth pink plastic shampoo bottle>, and set the light blue plastic cup down.",
+    "Grab the light blue plastic cup, swing it away from <the pink bottle with black dispenser>, and place the light blue plastic cup on <the flat surface gray wooden coaster>.",
+    "Use an arm to lift the medium-sized plastic blue cup, keep distance from <the plastic shampoo bottle with black pump>, and set the medium-sized plastic blue cup on <the coaster with circular shape>.",
+    "Grab the blue rounded-bottom cup, guide it away from the hand-sized pink shampoo container, and set the blue rounded-bottom cup neatly on the light gray round grainy coaster.",
+    "Take the light blue plastic cup, arc around <the smooth pink plastic shampoo bottle>, and place the light blue plastic cup neatly on <the light gray round grainy coaster>.",
+    "Use an arm to move the smooth blue cup for liquids toward the light gray streaked wooden coaster, keeping the smooth blue cup for liquids clear of the shampoo bottle with shiny pink body.",
+    "With an arm, lift the medium blue cylindrical cup, avoid the shampoo bottle with rectangular shape, and set the medium blue cylindrical cup onto the wooden coaster.",
+    "Secure the medium-sized plastic blue cup, move it around the smooth pink plastic shampoo bottle, and place the medium-sized plastic blue cup squarely on the round coaster.",
+    "Move the smooth blue cup for liquids to <the smooth round palm-sized coaster> while keeping its path away from <the rectangular pink shampoo container>.",
+    "Use an arm to lift the smooth blue cup for liquids, arc around the smooth pink plastic shampoo bottle, and place the smooth blue cup for liquids atop the round coaster.",
+    "Take the plastic cup for drinks, keep its path away from the pink shampoo container with pump top, and drop the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Secure the smooth blue drinking cup, keep its path away from the rectangular pink shampoo container, and set the smooth blue drinking cup on the flat round wooden coaster.",
+    "Use the arm to carry the rounded base blue cup around the plastic shampoo bottle with black pump, then rest the rounded base blue cup on the wooden coaster.",
+    "Carry the plastic cup for drinks toward <the coaster with circular shape>, skirting <the pink shampoo bottle>, and set the plastic cup for drinks down.",
+    "Lift the cup for holding liquids, route it away from the pink bottle with black dispenser, then put the cup for holding liquids squarely on the round coaster with light streaks.",
+    "Slide the blue rounded-bottom cup over to <the small coaster with grain texture> without passing near <the hand-sized pink shampoo container>.",
+    "Move the medium blue cylindrical cup to the coaster made of smooth wood without crossing the pink bottle with narrow top, then release the medium blue cylindrical cup.",
+    "Slide the smooth blue drinking cup toward the flat round wooden coaster, detouring around the pink shampoo bottle, then set the smooth blue drinking cup down.",
+    "Take the rounded base blue cup, swing wide of the shampoo bottle with rectangular shape, then rest the rounded base blue cup on the flat round wooden coaster.",
+    "Use the arm to move the smooth blue cup for liquids past <the smooth pink plastic shampoo bottle> and rest it on <the grainy texture coaster>.",
+    "Using an arm, move the cup for holding liquids to <the flat surface gray wooden coaster> while avoiding <the pink bottle with narrow top>, then release the cup for holding liquids.",
+    "Use an arm: pick the medium blue cylindrical cup up, skirt <the pink bottle with black dispenser>, then place the medium blue cylindrical cup onto <the round coaster>.",
+    "Use an arm to move the medium blue cylindrical cup around the plastic shampoo bottle with black pump and rest the medium blue cylindrical cup on the grainy texture coaster.",
+    "With an arm, move the cup for holding liquids past the rectangular pink bottle with dispenser and place the cup for holding liquids on the round coaster.",
+    "Pick up the cup with smooth plastic surface, keep clear of <the pink shampoo container with pump top>, and drop the cup with smooth plastic surface onto <the small coaster with grain texture>.",
+    "Lift the blue rounded-bottom cup, go around the shampoo bottle with rectangular shape, and position the blue rounded-bottom cup squarely on the round coaster with light streaks.",
+    "With an arm, pick the light blue plastic cup up, bypass <the rectangular pink bottle with dispenser>, then place the light blue plastic cup on <the smooth round palm-sized coaster>.",
+    "With an arm, lift the plastic cup for drinks, route past <the shampoo bottle with rectangular shape>, and drop the plastic cup for drinks onto <the small coaster with grain texture>.",
+    "Pick up the blue rounded-bottom cup, route it away from the shampoo bottle with shiny pink body, then set the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Move the medium blue cylindrical cup onto <the round coaster> and ensure the path stays away from <the medium pink bottle for shampoo>.",
+    "Use an arm: take the light blue plastic cup, avoid the pink bottle with narrow top during the move, and drop it on the light gray round grainy coaster.",
+    "Move the smooth blue drinking cup onto the light gray round grainy coaster while avoiding the hand-sized pink shampoo container, then let go of the smooth blue drinking cup.",
+    "Using an arm, grasp the cup with smooth plastic surface, skirt the smooth pink plastic shampoo bottle, and place the cup with smooth plastic surface atop the round coaster.",
+    "Using an arm, pick the cup with light blue color up, skirt the rectangular pink bottle with dispenser, and place the cup with light blue color on the light gray streaked wooden coaster."
+  ],
+  "unseen": [
+    "Grab the small smooth cup, guide it around <the plastic pink shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with black pump, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with black pump>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the glossy pink shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the plastic pink shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with black pump>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the glossy pink shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the glossy pink shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the glossy pink shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with black pump, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the glossy pink shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the glossy pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the glossy pink shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the plastic pink shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with black pump>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with black pump, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the glossy pink shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with black pump, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the plastic pink shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the glossy pink shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with black pump>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, steer it around the glossy pink shampoo bottle, then set the blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with black pump>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the glossy pink shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with black pump, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with black pump, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the glossy pink shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the plastic pink shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the glossy pink shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with black pump, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the glossy pink shampoo bottle>, and set the small smooth cup on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with black pump, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the glossy pink shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with black pump, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with black pump>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the glossy pink shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the glossy pink shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the glossy pink shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the glossy pink shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the glossy pink shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the plastic pink shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the plastic pink shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the glossy pink shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, guide it around <the shampoo bottle with black pump>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the plastic pink shampoo bottle, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the glossy pink shampoo bottle>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with black pump, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the plastic pink shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with black pump>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the glossy pink shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, steer it around the plastic pink shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with black pump>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the plastic pink shampoo bottle, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with black pump, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the glossy pink shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the glossy pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with black pump>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with black pump>, and place it on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the plastic pink shampoo bottle, and place the small smooth cup on the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the glossy pink shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with black pump, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the plastic pink shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with black pump, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the plastic pink shampoo bottle>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the plastic pink shampoo bottle, then set the blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the plastic pink shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the plastic pink shampoo bottle, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the plastic pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the plastic pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the plastic pink shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the shampoo bottle with black pump>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the plastic pink shampoo bottle, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the glossy pink shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with black pump, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with black pump, and set the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with black pump, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with black pump>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the glossy pink shampoo bottle, then set the blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the glossy pink shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo bottle with black pump, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the glossy pink shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with black pump, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the glossy pink shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the plastic pink shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the plastic pink shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the glossy pink shampoo bottle, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with black pump>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with black pump, then place the blue cup onto the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode66.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode66.json
new file mode 100644
index 0000000000000000000000000000000000000000..70d8153f7e6fd1fcc55b17b44c9e70c6e6a07df1
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode66.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the cylindrical light blue cup, carry it around the yellow container with green pump, and place the cylindrical light blue cup squarely on the coaster with circular shape.",
+    "Take the blue rounded-bottom cup to the flat round wooden coaster while skirting the yellow shampoo with cartoon design, then release the blue rounded-bottom cup on the flat round wooden coaster.",
+    "Take the light blue plastic cup, route it away from the smooth bottle with green top, and set the light blue plastic cup onto the light gray streaked wooden coaster.",
+    "Lift the cup with smooth plastic surface, guide it past the shampoo bottle with handle slot, and rest the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Pick up the cup with light blue color, route it away from the shampoo with green dispensing pump, then set the cup with light blue color on the round coaster.",
+    "Using an arm, grasp the smooth blue cup for liquids, skirt the hand-sized yellow shampoo bottle, and place the smooth blue cup for liquids atop the grainy texture coaster.",
+    "Move the smooth blue drinking cup to <the flat surface gray wooden coaster> while keeping its path away from <the yellow shampoo bottle>.",
+    "Move the rounded base blue cup toward the coaster with circular shape without passing near the yellow bottle with green top, then set it down.",
+    "Use an arm to take the cup for holding liquids around <the plastic shampoo bottle with label> and place the cup for holding liquids on <the grainy texture coaster>.",
+    "Use an arm, pick the plastic cup for drinks up, pass around the shampoo with green dispensing pump, then place the plastic cup for drinks on the coaster with circular shape.",
+    "Use an arm to lift the rounded base blue cup, keep distance from <the yellow bottle with green top>, and set the rounded base blue cup on <the round coaster with light streaks>.",
+    "Use an arm to bring the plastic cup for drinks to the wooden coaster, keeping the plastic cup for drinks clear of the yellow container with green pump.",
+    "Lift the light blue plastic cup, route it away from the hand-sized yellow shampoo bottle, then put the light blue plastic cup squarely on the small coaster with grain texture.",
+    "Take the blue rounded-bottom cup, swing wide of the medium shampoo bottle with pump, then rest the blue rounded-bottom cup on the small coaster with grain texture.",
+    "Using an arm, pick the light blue plastic cup up, skirt the shampoo with green dispensing pump, and place the light blue plastic cup on the small coaster with grain texture.",
+    "Using an arm, pick the medium blue cylindrical cup up, skirt the shampoo bottle with rounded body, and place the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Use an arm to move the cup with smooth plastic surface around the yellow shampoo with cartoon design and rest the cup with smooth plastic surface on the grainy texture coaster.",
+    "Carry the cup with smooth plastic surface toward the smooth round palm-sized coaster, keeping the cup with smooth plastic surface away from the shampoo bottle with rounded body, then set down.",
+    "With an arm, bring the cup with smooth plastic surface over to <the light gray streaked wooden coaster> and keep clear of <the yellow shampoo bottle>.",
+    "Lift the blue rounded-bottom cup, go around the bottle with cartoon label, and position the blue rounded-bottom cup squarely on the round coaster.",
+    "Move the cup with light blue color to <the light gray streaked wooden coaster> while keeping the cup with light blue color away from <the yellow bottle with green top>, then release.",
+    "With an arm, take the plastic cup for drinks, avoid the shampoo with green dispensing pump, and put the plastic cup for drinks on the coaster with circular shape.",
+    "Guide the smooth blue drinking cup with the arm around <the yellow bottle with green top> and onto <the light gray streaked wooden coaster>.",
+    "Use an arm to lift the medium blue cylindrical cup, arc around the shampoo bottle with rounded body, and place the medium blue cylindrical cup atop the grainy texture coaster.",
+    "With an arm, lift the cup with smooth plastic surface, avoid <the hand-sized yellow shampoo bottle> on the way, and drop the cup with smooth plastic surface on <the coaster with circular shape>.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the bottle with cartoon label, and set the blue rounded-bottom cup onto the small coaster with grain texture.",
+    "Lift the light blue plastic cup, arc around the shampoo with green dispensing pump, and place the light blue plastic cup squarely on the light gray streaked wooden coaster.",
+    "Lift the smooth blue drinking cup, keep clear of the shampoo bottle with rounded body, and put the smooth blue drinking cup down on the coaster made of smooth wood.",
+    "Take the plastic cup for drinks, keep its path away from the yellow shampoo with cartoon design, and place the plastic cup for drinks on the small coaster with grain texture.",
+    "Lift the light blue plastic cup, pass beside <the yellow shampoo bottle> without contact, then place the light blue plastic cup onto <the grainy texture coaster>.",
+    "With an arm, lift the medium-sized plastic blue cup, keep it away from the bottle with cartoon label, and drop it onto the coaster made of smooth wood.",
+    "Lift the smooth blue drinking cup, steer away from <the yellow bottle with green top>, then place the smooth blue drinking cup on <the grainy texture coaster>.",
+    "Move the smooth blue drinking cup onto <the light gray round grainy coaster> and ensure the path stays away from <the medium shampoo bottle with pump>.",
+    "Use an arm: pick the cup for holding liquids up, skirt <the bottle with cartoon label>, then place the cup for holding liquids onto <the coaster with circular shape>.",
+    "With an arm, lift the smooth blue cup for liquids, route past <the bottle with cartoon label>, and drop the smooth blue cup for liquids onto <the round coaster>.",
+    "Use an arm, take the plastic cup for drinks past the hand-sized yellow shampoo bottle without nearing it, and rest the plastic cup for drinks on the small coaster with grain texture.",
+    "Use an arm, take the blue rounded-bottom cup, avoid <the yellow shampoo with cartoon design> on the way, and set on <the coaster with circular shape>.",
+    "Pick up the cup for holding liquids, guide it past the shampoo bottle with handle slot, and drop the cup for holding liquids on the coaster made of smooth wood.",
+    "Arm-lift the medium blue cylindrical cup, swing around <the yellow bottle with green top>, then place the medium blue cylindrical cup onto <the light gray round grainy coaster>.",
+    "Using an arm, carry the cylindrical light blue cup past <the yellow shampoo bottle> and place the cylindrical light blue cup squarely on <the coaster made of smooth wood>.",
+    "Use an arm, keep the cylindrical light blue cup from the smooth bottle with green top, and lower the cylindrical light blue cup onto the flat round wooden coaster.",
+    "Lift the cup with light blue color, pass by the bottle with cartoon label without contact, then place the cup with light blue color on the round coaster.",
+    "Take the cup with smooth plastic surface in the arm, route around <the medium shampoo bottle with pump>, and set it on <the flat surface gray wooden coaster>.",
+    "With an arm, move the light blue plastic cup past the yellow shampoo with cartoon design and place the light blue plastic cup on the smooth round palm-sized coaster.",
+    "Take the light blue plastic cup, keep its path away from the bottle with cartoon label, and drop the light blue plastic cup on the light gray round grainy coaster.",
+    "Use the arm to lift the smooth blue drinking cup, pass the yellow bottle with green top, and place the smooth blue drinking cup on the flat surface gray wooden coaster.",
+    "Take the light blue plastic cup, guide it away from <the medium shampoo bottle with pump>, and place the light blue plastic cup squarely on <the grainy texture coaster>.",
+    "Move the smooth blue drinking cup to the coaster made of smooth wood while avoiding the yellow container with green pump, then place the smooth blue drinking cup on the coaster made of smooth wood.",
+    "Slide the cup for holding liquids toward the coaster made of smooth wood, detouring around the yellow shampoo bottle, then set the cup for holding liquids down.",
+    "Use an arm to move the smooth blue drinking cup to the round coaster with light streaks, keeping the smooth blue drinking cup from bumping the plastic shampoo bottle with label.",
+    "Take the rounded base blue cup, arc around <the plastic shampoo bottle with label>, and place the rounded base blue cup neatly on <the smooth round palm-sized coaster>.",
+    "Carry the rounded base blue cup toward <the small coaster with grain texture>, keeping clear of <the yellow shampoo bottle>, and set the rounded base blue cup down.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid the shampoo with green dispensing pump, and place the medium-sized plastic blue cup on the coaster with circular shape.",
+    "Use an arm: grasp the blue rounded-bottom cup, avoid <the bottle with cartoon label>, and place the blue rounded-bottom cup on <the light gray streaked wooden coaster>.",
+    "Use an arm: grab the smooth blue cup for liquids, avoid the yellow shampoo bottle on the way, then set the smooth blue cup for liquids on the coaster made of smooth wood.",
+    "Use the arm to carry the smooth blue cup for liquids around the bottle with cartoon label, then rest the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "Grab the light blue plastic cup, swing it away from <the smooth bottle with green top>, and place the light blue plastic cup on <the coaster with circular shape>.",
+    "Pick up the blue rounded-bottom cup, keep clear of <the medium shampoo bottle with pump>, and drop the blue rounded-bottom cup onto <the light gray round grainy coaster>.",
+    "Move the light blue plastic cup to the smooth round palm-sized coaster without crossing the yellow shampoo with cartoon design, then release the light blue plastic cup.",
+    "Use the arm to move the cup with smooth plastic surface past <the plastic shampoo bottle with label> and rest it on <the flat round wooden coaster>.",
+    "Slide the rounded base blue cup over to <the round coaster with light streaks> without passing near <the yellow shampoo bottle>.",
+    "Move the smooth blue cup for liquids onto the grainy texture coaster while avoiding the yellow container with green pump, then let go of the smooth blue cup for liquids.",
+    "Use an arm to move the blue rounded-bottom cup toward the wooden coaster, keeping the blue rounded-bottom cup clear of the yellow shampoo bottle.",
+    "Grab the rounded base blue cup, route around the yellow container with green pump, then lower the rounded base blue cup onto the grainy texture coaster.",
+    "Secure the cylindrical light blue cup, move it around the smooth bottle with green top, and place the cylindrical light blue cup squarely on the flat round wooden coaster.",
+    "Carry the medium-sized plastic blue cup toward <the small coaster with grain texture>, skirting <the plastic shampoo bottle with label>, and set the medium-sized plastic blue cup down.",
+    "Pick up the smooth blue cup for liquids, keep its path away from <the shampoo with green dispensing pump>, and set the smooth blue cup for liquids on <the flat surface gray wooden coaster>.",
+    "Pick up the medium blue cylindrical cup, avoid the shampoo with green dispensing pump along the way, and place the medium blue cylindrical cup on the round coaster.",
+    "Using an arm, carry the smooth blue drinking cup around the shampoo bottle with rounded body and place the smooth blue drinking cup onto the smooth round palm-sized coaster.",
+    "Use an arm: take the plastic cup for drinks, avoid the medium shampoo bottle with pump during the move, and drop it on the coaster with circular shape.",
+    "Grab the medium blue cylindrical cup, guide it away from the smooth bottle with green top, and set the medium blue cylindrical cup neatly on the small coaster with grain texture.",
+    "Using an arm, move the cup for holding liquids to <the flat round wooden coaster> while avoiding <the shampoo bottle with rounded body>, then release the cup for holding liquids.",
+    "Use an arm to grab the medium-sized plastic blue cup, avoid the smooth bottle with green top, and set the medium-sized plastic blue cup down on the coaster with circular shape.",
+    "Lift the cup with smooth plastic surface, guide it around <the yellow shampoo bottle>, then put the cup with smooth plastic surface onto <the round coaster with light streaks>.",
+    "Pick the blue rounded-bottom cup up, route it away from the yellow bottle with green top, and drop the blue rounded-bottom cup onto the coaster with circular shape.",
+    "With an arm, lift the cup with light blue color, guide it past the yellow container with green pump, and put the cup with light blue color on the coaster made of smooth wood.",
+    "Carry the smooth blue cup for liquids toward <the coaster with circular shape>, keeping the path clear of <the yellow shampoo with cartoon design>, then set down.",
+    "With an arm, pick the cup with light blue color up, bypass <the shampoo with green dispensing pump>, then place the cup with light blue color on <the small coaster with grain texture>.",
+    "Move the cup with light blue color onto the coaster with circular shape while avoiding the plastic shampoo bottle with label, then let go of the cup with light blue color.",
+    "Secure the cup with smooth plastic surface, keep its path away from the yellow container with green pump, and set the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Lift the cup for holding liquids, carry it around the smooth bottle with green top, and place the cup for holding liquids squarely on the coaster made of smooth wood.",
+    "Take the cylindrical light blue cup to the light gray streaked wooden coaster while skirting the medium shampoo bottle with pump, then release the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Take the smooth blue drinking cup, route it away from the hand-sized yellow shampoo bottle, and set the smooth blue drinking cup onto the light gray round grainy coaster.",
+    "Lift the plastic cup for drinks, guide it past the shampoo bottle with handle slot, and rest the plastic cup for drinks on the coaster made of smooth wood.",
+    "Pick up the smooth blue drinking cup, route it away from the shampoo with green dispensing pump, then set the smooth blue drinking cup on the coaster with circular shape.",
+    "Using an arm, grasp the plastic cup for drinks, skirt the medium shampoo bottle with pump, and place the plastic cup for drinks atop the light gray round grainy coaster.",
+    "Move the plastic cup for drinks to <the light gray round grainy coaster> while keeping its path away from <the yellow shampoo with cartoon design>.",
+    "Move the plastic cup for drinks toward the grainy texture coaster without passing near the shampoo with green dispensing pump, then set it down.",
+    "Use an arm to take the rounded base blue cup around <the yellow shampoo bottle> and place the rounded base blue cup on <the grainy texture coaster>.",
+    "Use an arm, pick the smooth blue drinking cup up, pass around the yellow shampoo bottle, then place the smooth blue drinking cup on the round coaster.",
+    "Use an arm to lift the plastic cup for drinks, keep distance from <the shampoo bottle with handle slot>, and set the plastic cup for drinks on <the coaster with circular shape>.",
+    "Use an arm to bring the light blue plastic cup to the coaster with circular shape, keeping the light blue plastic cup clear of the bottle with cartoon label.",
+    "Lift the medium blue cylindrical cup, route it away from the shampoo bottle with rounded body, then put the medium blue cylindrical cup squarely on the coaster made of smooth wood.",
+    "Take the light blue plastic cup, swing wide of the yellow container with green pump, then rest the light blue plastic cup on the smooth round palm-sized coaster.",
+    "Using an arm, pick the light blue plastic cup up, skirt the bottle with cartoon label, and place the light blue plastic cup on the light gray round grainy coaster.",
+    "Using an arm, pick the blue rounded-bottom cup up, skirt the shampoo with green dispensing pump, and place the blue rounded-bottom cup on the round coaster.",
+    "Use an arm to move the light blue plastic cup around the yellow bottle with green top and rest the light blue plastic cup on the coaster with circular shape.",
+    "Carry the medium-sized plastic blue cup toward the round coaster with light streaks, keeping the medium-sized plastic blue cup away from the yellow bottle with green top, then set down.",
+    "With an arm, bring the smooth blue cup for liquids over to <the smooth round palm-sized coaster> and keep clear of <the yellow bottle with green top>.",
+    "Lift the cup with smooth plastic surface, go around the shampoo bottle with rounded body, and position the cup with smooth plastic surface squarely on the grainy texture coaster."
+  ],
+  "unseen": [
+    "Use an arm to grab the handheld round blue cup, steer around the smooth plastic shampoo container, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the yellow bottle with rounded edges>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the yellow bottle with rounded edges, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the smooth plastic shampoo container>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the smooth plastic shampoo container>, then place the blue cup onto <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the smooth plastic shampoo container>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the smooth plastic shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the yellow shampoo with pump dispenser, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the yellow shampoo with pump dispenser, and place it on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the smooth plastic shampoo container, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth plastic shampoo container, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the yellow shampoo with pump dispenser, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the smooth plastic shampoo container>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the yellow shampoo with pump dispenser>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth plastic shampoo container, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the smooth plastic shampoo container>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the yellow shampoo with pump dispenser, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the yellow shampoo with pump dispenser>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the yellow bottle with rounded edges>, then place the blue cup onto <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the yellow bottle with rounded edges>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the yellow bottle with rounded edges, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the yellow shampoo with pump dispenser, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the yellow shampoo with pump dispenser, and place it on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the yellow shampoo with pump dispenser, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth plastic shampoo container, and set the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the smooth plastic shampoo container, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the yellow bottle with rounded edges>, then set the small smooth cup on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the yellow bottle with rounded edges>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the yellow bottle with rounded edges, and set the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, guide it around <the yellow bottle with rounded edges>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the smooth plastic shampoo container, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the yellow shampoo with pump dispenser>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the smooth plastic shampoo container>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the smooth plastic shampoo container>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the yellow shampoo with pump dispenser, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the yellow bottle with rounded edges, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the smooth plastic shampoo container, and place it on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the yellow shampoo with pump dispenser, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth plastic shampoo container, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the smooth plastic shampoo container, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the smooth plastic shampoo container>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the yellow bottle with rounded edges>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the yellow shampoo with pump dispenser>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the yellow bottle with rounded edges, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the yellow shampoo with pump dispenser>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, route it around <the yellow shampoo with pump dispenser>, then place the small smooth cup onto <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the yellow bottle with rounded edges>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the yellow shampoo with pump dispenser, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the yellow bottle with rounded edges, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the yellow bottle with rounded edges, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep clear of the yellow bottle with rounded edges, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the yellow bottle with rounded edges, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the yellow bottle with rounded edges, and set the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the smooth plastic shampoo container, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the yellow shampoo with pump dispenser>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth plastic shampoo container>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth plastic shampoo container, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the smooth plastic shampoo container>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the smooth plastic shampoo container, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the yellow shampoo with pump dispenser>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the smooth plastic shampoo container>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the yellow bottle with rounded edges>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the smooth plastic shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the smooth plastic shampoo container, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the yellow shampoo with pump dispenser, and place it on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the smooth plastic shampoo container, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the smooth plastic shampoo container, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the yellow bottle with rounded edges, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the smooth plastic shampoo container>, then set the blue cup on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the yellow bottle with rounded edges>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the yellow shampoo with pump dispenser, and set the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, guide it around <the yellow bottle with rounded edges>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the yellow bottle with rounded edges, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the smooth plastic shampoo container>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the yellow shampoo with pump dispenser>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the yellow shampoo with pump dispenser>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the yellow shampoo with pump dispenser, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the smooth plastic shampoo container, then set the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the yellow shampoo with pump dispenser, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the smooth plastic shampoo container, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth plastic shampoo container, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the yellow bottle with rounded edges, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the yellow bottle with rounded edges, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the yellow bottle with rounded edges>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth plastic shampoo container>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth plastic shampoo container, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the yellow bottle with rounded edges>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the yellow shampoo with pump dispenser, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the smooth plastic shampoo container>, and place the small smooth cup on <the light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode67.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode67.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e075c7f78e9fdd793c5ec986e131919c38a5447
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode67.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth blue drinking cup, route it away from the medium shampoo bottle with pump, then put the smooth blue drinking cup squarely on the small coaster with grain texture.",
+    "Use an arm: grab the medium-sized plastic blue cup, avoid the yellow shampoo with cartoon design on the way, then set the medium-sized plastic blue cup on the round coaster.",
+    "Lift the cup with smooth plastic surface, keep clear of the medium shampoo bottle with pump, and put the cup with smooth plastic surface down on the smooth round palm-sized coaster.",
+    "Using an arm, grasp the cylindrical light blue cup, skirt the shampoo bottle with rounded body, and place the cylindrical light blue cup atop the smooth round palm-sized coaster.",
+    "Pick up the cup for holding liquids, keep its path away from <the plastic shampoo bottle with label>, and set the cup for holding liquids on <the coaster with circular shape>.",
+    "Lift the cylindrical light blue cup, guide it around <the medium shampoo bottle with pump>, then put the cylindrical light blue cup onto <the flat surface gray wooden coaster>.",
+    "Lift the cylindrical light blue cup, steer away from <the shampoo bottle with handle slot>, then place the cylindrical light blue cup on <the grainy texture coaster>.",
+    "Take the medium-sized plastic blue cup, keep its path away from the bottle with cartoon label, and drop the medium-sized plastic blue cup on the small coaster with grain texture.",
+    "Grab the cup with smooth plastic surface, swing it away from <the bottle with cartoon label>, and place the cup with smooth plastic surface on <the flat round wooden coaster>.",
+    "Move the cylindrical light blue cup toward the round coaster without passing near the smooth bottle with green top, then set it down.",
+    "Grab the smooth blue drinking cup, route around the yellow bottle with green top, then lower the smooth blue drinking cup onto the grainy texture coaster.",
+    "Use an arm to move the cup with smooth plastic surface toward the light gray streaked wooden coaster, keeping the cup with smooth plastic surface clear of the shampoo bottle with rounded body.",
+    "With an arm, lift the cup for holding liquids, avoid <the yellow shampoo bottle> on the way, and drop the cup for holding liquids on <the coaster made of smooth wood>.",
+    "Use the arm to move the medium blue cylindrical cup past <the smooth bottle with green top> and rest it on <the wooden coaster>.",
+    "Pick up the cup for holding liquids, route it away from the smooth bottle with green top, then set the cup for holding liquids on the round coaster.",
+    "Use an arm to move the blue rounded-bottom cup to the smooth round palm-sized coaster, keeping the blue rounded-bottom cup from bumping the yellow shampoo with cartoon design.",
+    "Move the smooth blue drinking cup onto the round coaster while avoiding the yellow shampoo bottle, then let go of the smooth blue drinking cup.",
+    "Lift the cylindrical light blue cup, carry it around the medium shampoo bottle with pump, and place the cylindrical light blue cup squarely on the round coaster with light streaks.",
+    "Take the blue rounded-bottom cup, guide it away from <the yellow shampoo with cartoon design>, and place the blue rounded-bottom cup squarely on <the flat round wooden coaster>.",
+    "Move the cup with light blue color to <the smooth round palm-sized coaster> while keeping its path away from <the medium shampoo bottle with pump>.",
+    "Pick the blue rounded-bottom cup up, route it away from the yellow shampoo with cartoon design, and drop the blue rounded-bottom cup onto the wooden coaster.",
+    "Use an arm: pick the rounded base blue cup up, skirt <the yellow container with green pump>, then place the rounded base blue cup onto <the small coaster with grain texture>.",
+    "Lift the rounded base blue cup, go around the plastic shampoo bottle with label, and position the rounded base blue cup squarely on the wooden coaster.",
+    "Move the smooth blue drinking cup to the grainy texture coaster without crossing the shampoo bottle with handle slot, then release the smooth blue drinking cup.",
+    "Use the arm to lift the cup with light blue color, pass the shampoo with green dispensing pump, and place the cup with light blue color on the round coaster.",
+    "Move the cup with smooth plastic surface onto <the grainy texture coaster> and ensure the path stays away from <the bottle with cartoon label>.",
+    "With an arm, pick the cylindrical light blue cup up, bypass <the yellow bottle with green top>, then place the cylindrical light blue cup on <the small coaster with grain texture>.",
+    "Use an arm to move the light blue plastic cup around the shampoo with green dispensing pump and rest the light blue plastic cup on the coaster made of smooth wood.",
+    "Secure the blue rounded-bottom cup, keep its path away from the hand-sized yellow shampoo bottle, and set the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "Move the cup for holding liquids onto the light gray round grainy coaster while avoiding the shampoo bottle with rounded body, then let go of the cup for holding liquids.",
+    "Take the cylindrical light blue cup to the flat surface gray wooden coaster while skirting the smooth bottle with green top, then release the cylindrical light blue cup on the flat surface gray wooden coaster.",
+    "Using an arm, pick the cup with light blue color up, skirt the medium shampoo bottle with pump, and place the cup with light blue color on the wooden coaster.",
+    "Take the cup for holding liquids, swing wide of the shampoo bottle with rounded body, then rest the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Take the rounded base blue cup, keep its path away from the plastic shampoo bottle with label, and place the rounded base blue cup on the wooden coaster.",
+    "Using an arm, move the cylindrical light blue cup to <the smooth round palm-sized coaster> while avoiding <the yellow container with green pump>, then release the cylindrical light blue cup.",
+    "Use an arm to take the cup with light blue color around <the plastic shampoo bottle with label> and place the cup with light blue color on <the flat surface gray wooden coaster>.",
+    "Pick up the rounded base blue cup, keep clear of <the yellow bottle with green top>, and drop the rounded base blue cup onto <the light gray round grainy coaster>.",
+    "With an arm, lift the medium blue cylindrical cup, guide it past the hand-sized yellow shampoo bottle, and put the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Arm-lift the medium blue cylindrical cup, swing around <the shampoo bottle with handle slot>, then place the medium blue cylindrical cup onto <the wooden coaster>.",
+    "Using an arm, pick the smooth blue cup for liquids up, skirt the yellow container with green pump, and place the smooth blue cup for liquids on the light gray round grainy coaster.",
+    "Secure the rounded base blue cup, move it around the shampoo bottle with rounded body, and place the rounded base blue cup squarely on the light gray round grainy coaster.",
+    "With an arm, move the cup with light blue color past the yellow shampoo with cartoon design and place the cup with light blue color on the wooden coaster.",
+    "Pick up the plastic cup for drinks, avoid the bottle with cartoon label along the way, and place the plastic cup for drinks on the flat round wooden coaster.",
+    "Using an arm, carry the plastic cup for drinks past <the shampoo bottle with handle slot> and place the plastic cup for drinks squarely on <the wooden coaster>.",
+    "Grab the blue rounded-bottom cup, guide it away from the medium shampoo bottle with pump, and set the blue rounded-bottom cup neatly on the coaster with circular shape.",
+    "Slide the rounded base blue cup over to <the flat round wooden coaster> without passing near <the shampoo bottle with handle slot>.",
+    "Use an arm, pick the smooth blue drinking cup up, pass around the shampoo with green dispensing pump, then place the smooth blue drinking cup on the light gray round grainy coaster.",
+    "With an arm, bring the medium-sized plastic blue cup over to <the flat surface gray wooden coaster> and keep clear of <the medium shampoo bottle with pump>.",
+    "With an arm, lift the cup with smooth plastic surface, keep it away from the yellow shampoo bottle, and drop it onto the smooth round palm-sized coaster.",
+    "With an arm, lift the medium-sized plastic blue cup, route past <the yellow container with green pump>, and drop the medium-sized plastic blue cup onto <the grainy texture coaster>.",
+    "Slide the light blue plastic cup toward the coaster with circular shape, detouring around the hand-sized yellow shampoo bottle, then set the light blue plastic cup down.",
+    "Lift the cup with light blue color, pass by the bottle with cartoon label without contact, then place the cup with light blue color on the grainy texture coaster.",
+    "Use an arm, take the smooth blue cup for liquids past the smooth bottle with green top without nearing it, and rest the smooth blue cup for liquids on the round coaster with light streaks.",
+    "Move the cup with light blue color to <the light gray streaked wooden coaster> while keeping the cup with light blue color away from <the shampoo bottle with rounded body>, then release.",
+    "Use an arm to grab the medium blue cylindrical cup, avoid the shampoo bottle with handle slot, and set the medium blue cylindrical cup down on the light gray streaked wooden coaster.",
+    "Use an arm to lift the medium-sized plastic blue cup, arc around the yellow container with green pump, and place the medium-sized plastic blue cup atop the smooth round palm-sized coaster.",
+    "Pick up the smooth blue drinking cup, guide it past the hand-sized yellow shampoo bottle, and drop the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "With an arm, take the smooth blue drinking cup, avoid the yellow bottle with green top, and put the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "Move the smooth blue cup for liquids to the wooden coaster while avoiding the yellow container with green pump, then place the smooth blue cup for liquids on the wooden coaster.",
+    "Take the medium-sized plastic blue cup, arc around <the medium shampoo bottle with pump>, and place the medium-sized plastic blue cup neatly on <the small coaster with grain texture>.",
+    "Carry the cup with smooth plastic surface toward <the round coaster with light streaks>, keeping the path clear of <the bottle with cartoon label>, then set down.",
+    "Lift the medium blue cylindrical cup, pass beside <the hand-sized yellow shampoo bottle> without contact, then place the medium blue cylindrical cup onto <the flat surface gray wooden coaster>.",
+    "Use an arm, take the plastic cup for drinks, avoid <the bottle with cartoon label> on the way, and set on <the flat round wooden coaster>.",
+    "Take the light blue plastic cup, route it away from the shampoo bottle with rounded body, and set the light blue plastic cup onto the small coaster with grain texture.",
+    "Use an arm, keep the cylindrical light blue cup from the yellow container with green pump, and lower the cylindrical light blue cup onto the grainy texture coaster.",
+    "Lift the cylindrical light blue cup, arc around the yellow shampoo with cartoon design, and place the cylindrical light blue cup squarely on the round coaster.",
+    "Use an arm to bring the cup for holding liquids to the light gray streaked wooden coaster, keeping the cup for holding liquids clear of the yellow container with green pump.",
+    "Using an arm, carry the medium blue cylindrical cup around the yellow container with green pump and place the medium blue cylindrical cup onto the round coaster with light streaks.",
+    "Use the arm to carry the rounded base blue cup around the shampoo bottle with rounded body, then rest the rounded base blue cup on the small coaster with grain texture.",
+    "Lift the smooth blue cup for liquids, guide it past the yellow bottle with green top, and rest the smooth blue cup for liquids on the grainy texture coaster.",
+    "Take the smooth blue cup for liquids in the arm, route around <the medium shampoo bottle with pump>, and set it on <the smooth round palm-sized coaster>.",
+    "Use an arm to lift the cylindrical light blue cup, keep distance from <the shampoo bottle with handle slot>, and set the cylindrical light blue cup on <the wooden coaster>.",
+    "Carry the medium-sized plastic blue cup toward the round coaster, keeping the medium-sized plastic blue cup away from the smooth bottle with green top, then set down.",
+    "Guide the cup with light blue color with the arm around <the shampoo with green dispensing pump> and onto <the light gray streaked wooden coaster>.",
+    "With an arm, lift the smooth blue drinking cup, avoid the hand-sized yellow shampoo bottle, and set the smooth blue drinking cup onto the smooth round palm-sized coaster.",
+    "Carry the blue rounded-bottom cup toward <the wooden coaster>, skirting <the shampoo with green dispensing pump>, and set the blue rounded-bottom cup down.",
+    "Carry the smooth blue drinking cup toward <the coaster made of smooth wood>, keeping clear of <the plastic shampoo bottle with label>, and set the smooth blue drinking cup down.",
+    "With an arm, lift the light blue plastic cup, avoid the yellow shampoo with cartoon design, and place the light blue plastic cup on the smooth round palm-sized coaster.",
+    "Use an arm: grasp the cup for holding liquids, avoid <the shampoo with green dispensing pump>, and place the cup for holding liquids on <the coaster made of smooth wood>.",
+    "Use an arm: take the rounded base blue cup, avoid the shampoo bottle with handle slot during the move, and drop it on the flat round wooden coaster.",
+    "Lift the light blue plastic cup, route it away from the shampoo with green dispensing pump, then put the light blue plastic cup squarely on the flat surface gray wooden coaster.",
+    "Use an arm: grab the rounded base blue cup, avoid the shampoo with green dispensing pump on the way, then set the rounded base blue cup on the round coaster.",
+    "Lift the medium blue cylindrical cup, keep clear of the plastic shampoo bottle with label, and put the medium blue cylindrical cup down on the light gray round grainy coaster.",
+    "Using an arm, grasp the cylindrical light blue cup, skirt the hand-sized yellow shampoo bottle, and place the cylindrical light blue cup atop the round coaster with light streaks.",
+    "Pick up the cylindrical light blue cup, keep its path away from <the yellow shampoo with cartoon design>, and set the cylindrical light blue cup on <the light gray streaked wooden coaster>.",
+    "Lift the cylindrical light blue cup, guide it around <the yellow shampoo bottle>, then put the cylindrical light blue cup onto <the round coaster with light streaks>.",
+    "Lift the cylindrical light blue cup, steer away from <the yellow shampoo with cartoon design>, then place the cylindrical light blue cup on <the coaster made of smooth wood>.",
+    "Take the smooth blue cup for liquids, keep its path away from the plastic shampoo bottle with label, and drop the smooth blue cup for liquids on the round coaster.",
+    "Grab the medium blue cylindrical cup, swing it away from <the bottle with cartoon label>, and place the medium blue cylindrical cup on <the flat round wooden coaster>.",
+    "Move the cup with light blue color toward the light gray streaked wooden coaster without passing near the shampoo with green dispensing pump, then set it down.",
+    "Grab the rounded base blue cup, route around the medium shampoo bottle with pump, then lower the rounded base blue cup onto the light gray round grainy coaster.",
+    "Use an arm to move the smooth blue cup for liquids toward the round coaster with light streaks, keeping the smooth blue cup for liquids clear of the yellow shampoo with cartoon design.",
+    "With an arm, lift the blue rounded-bottom cup, avoid <the shampoo bottle with handle slot> on the way, and drop the blue rounded-bottom cup on <the round coaster>.",
+    "Use the arm to move the plastic cup for drinks past <the yellow shampoo with cartoon design> and rest it on <the round coaster>.",
+    "Pick up the cup for holding liquids, route it away from the yellow shampoo bottle, then set the cup for holding liquids on the coaster with circular shape.",
+    "Use an arm to move the cup for holding liquids to the small coaster with grain texture, keeping the cup for holding liquids from bumping the yellow shampoo bottle.",
+    "Move the blue rounded-bottom cup onto the coaster made of smooth wood while avoiding the yellow container with green pump, then let go of the blue rounded-bottom cup.",
+    "Lift the medium-sized plastic blue cup, carry it around the yellow container with green pump, and place the medium-sized plastic blue cup squarely on the wooden coaster.",
+    "Take the cup for holding liquids, guide it away from <the yellow shampoo with cartoon design>, and place the cup for holding liquids squarely on <the light gray streaked wooden coaster>.",
+    "Move the cylindrical light blue cup to <the coaster with circular shape> while keeping its path away from <the bottle with cartoon label>."
+  ],
+  "unseen": [
+    "Use an arm to pick up the small smooth cup, steer around the smooth plastic shampoo container, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the yellow bottle with rounded edges>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the yellow shampoo with pump dispenser>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the smooth plastic shampoo container, and place it on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the smooth plastic shampoo container>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the yellow bottle with rounded edges, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the yellow shampoo with pump dispenser, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the yellow bottle with rounded edges, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the yellow shampoo with pump dispenser, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the yellow shampoo with pump dispenser>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the smooth plastic shampoo container, and set the blue cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the yellow shampoo with pump dispenser>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the smooth plastic shampoo container, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the yellow bottle with rounded edges>, and place the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the yellow shampoo with pump dispenser, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the yellow bottle with rounded edges, then place the blue cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the yellow bottle with rounded edges>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the smooth plastic shampoo container>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the yellow shampoo with pump dispenser, and place it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the yellow shampoo with pump dispenser>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow bottle with rounded edges, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the yellow bottle with rounded edges, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the yellow shampoo with pump dispenser, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, steer it around the yellow shampoo with pump dispenser, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the yellow shampoo with pump dispenser>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set the handheld round blue cup on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the yellow shampoo with pump dispenser, then place the blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the yellow shampoo with pump dispenser>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the yellow bottle with rounded edges, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the smooth plastic shampoo container>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the smooth plastic shampoo container, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the smooth plastic shampoo container, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the yellow bottle with rounded edges>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the yellow shampoo with pump dispenser>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the yellow shampoo with pump dispenser, and place it on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the yellow bottle with rounded edges>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow bottle with rounded edges, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the yellow shampoo with pump dispenser, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the yellow shampoo with pump dispenser, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the smooth plastic shampoo container>, and set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the yellow shampoo with pump dispenser, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the yellow bottle with rounded edges>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the yellow bottle with rounded edges, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the smooth plastic shampoo container>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the yellow shampoo with pump dispenser, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the smooth plastic shampoo container>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the smooth plastic shampoo container>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the smooth plastic shampoo container, and place it on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the yellow bottle with rounded edges>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow bottle with rounded edges, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the smooth plastic shampoo container, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the yellow bottle with rounded edges, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the smooth plastic shampoo container, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the yellow shampoo with pump dispenser>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth plastic shampoo container, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the yellow shampoo with pump dispenser>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the yellow bottle with rounded edges, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the smooth plastic shampoo container>, and place the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the smooth plastic shampoo container, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the yellow shampoo with pump dispenser>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the yellow bottle with rounded edges>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the yellow shampoo with pump dispenser, and place it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the smooth plastic shampoo container>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the yellow shampoo with pump dispenser, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the yellow shampoo with pump dispenser, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the smooth plastic shampoo container, then set the blue cup onto the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the yellow shampoo with pump dispenser>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the smooth plastic shampoo container, and set the blue cup on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the yellow shampoo with pump dispenser, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the yellow bottle with rounded edges>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the yellow shampoo with pump dispenser, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the yellow shampoo with pump dispenser>, and place the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the yellow shampoo with pump dispenser, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the smooth plastic shampoo container, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the smooth plastic shampoo container>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the smooth plastic shampoo container>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the yellow shampoo with pump dispenser, and place it on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the yellow shampoo with pump dispenser>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the smooth plastic shampoo container, then place the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the smooth plastic shampoo container, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the yellow shampoo with pump dispenser, then set the blue cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the yellow shampoo with pump dispenser>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow bottle with rounded edges, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the smooth plastic shampoo container>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the smooth plastic shampoo container, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the yellow shampoo with pump dispenser>, and place the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the smooth plastic shampoo container, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the smooth plastic shampoo container, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the yellow shampoo with pump dispenser>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the yellow shampoo with pump dispenser>, then place the small smooth cup onto <the small drink-protecting wooden coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode68.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode68.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa72eea5209c0d33b18b5301ad61c66aaa028855
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode68.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium blue cylindrical cup, keep clear of the shampoo bottle tapered toward cap, and put the medium blue cylindrical cup down on the grainy texture coaster.",
+    "Using an arm, pick the light blue plastic cup up, skirt the curved light blue shampoo bottle, and place the light blue plastic cup on the small coaster with grain texture.",
+    "With an arm, take the smooth blue drinking cup, avoid the shampoo bottle flat bottom edge, and put the smooth blue drinking cup on the wooden coaster.",
+    "Lift the smooth blue drinking cup, arc around the light blue shampoo bottle small size, and place the smooth blue drinking cup squarely on the light gray round grainy coaster.",
+    "Pick up the cylindrical light blue cup, avoid the blue shampoo bottle slender design along the way, and place the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Use an arm to lift the rounded base blue cup, keep distance from <the small smooth shampoo bottle>, and set the rounded base blue cup on <the flat surface gray wooden coaster>.",
+    "Move the cup with smooth plastic surface to <the small coaster with grain texture> while keeping its path away from <the curved light blue shampoo bottle>.",
+    "Use the arm to lift the cup with light blue color, pass the curved light blue shampoo bottle, and place the cup with light blue color on the coaster made of smooth wood.",
+    "Pick up the blue rounded-bottom cup, route it away from the shampoo bottle with matte plastic, then set the blue rounded-bottom cup on the smooth round palm-sized coaster.",
+    "Lift the light blue plastic cup, guide it around <the blue shampoo bottle slender design>, then put the light blue plastic cup onto <the light gray streaked wooden coaster>.",
+    "With an arm, lift the cup with smooth plastic surface, guide it past the shampoo bottle with matte plastic, and put the cup with smooth plastic surface on the small coaster with grain texture.",
+    "Move the medium-sized plastic blue cup onto the round coaster with light streaks while avoiding the shampoo bottle flat bottom edge, then let go of the medium-sized plastic blue cup.",
+    "Move the plastic cup for drinks onto <the light gray round grainy coaster> and ensure the path stays away from <the shampoo bottle with matte plastic>.",
+    "Use the arm to carry the medium blue cylindrical cup around the bottle light blue rounded shape, then rest the medium blue cylindrical cup on the wooden coaster.",
+    "Pick up the light blue plastic cup, keep clear of <the shampoo bottle flat bottom edge>, and drop the light blue plastic cup onto <the smooth round palm-sized coaster>.",
+    "Carry the cup with light blue color toward <the smooth round palm-sized coaster>, keeping the path clear of <the shampoo bottle with white cap>, then set down.",
+    "Carry the cup with light blue color toward <the round coaster>, skirting <the shampoo bottle tapered toward cap>, and set the cup with light blue color down.",
+    "Use an arm, take the smooth blue drinking cup, avoid <the light blue shampoo bottle small size> on the way, and set on <the coaster made of smooth wood>.",
+    "Pick up the medium-sized plastic blue cup, guide it past the bottle light blue rounded shape, and drop the medium-sized plastic blue cup on the wooden coaster.",
+    "Lift the cylindrical light blue cup, pass beside <the small smooth shampoo bottle> without contact, then place the cylindrical light blue cup onto <the light gray streaked wooden coaster>.",
+    "Move the cup with light blue color to <the coaster with circular shape> while keeping the cup with light blue color away from <the shampoo bottle flat bottom edge>, then release.",
+    "With an arm, lift the cup with smooth plastic surface, avoid <the curved light blue shampoo bottle> on the way, and drop the cup with smooth plastic surface on <the small coaster with grain texture>.",
+    "Slide the cylindrical light blue cup over to <the round coaster with light streaks> without passing near <the blue shampoo bottle>.",
+    "Take the plastic cup for drinks, guide it away from <the bottle light blue rounded shape>, and place the plastic cup for drinks squarely on <the coaster with circular shape>.",
+    "Take the cylindrical light blue cup, arc around <the light blue shampoo bottle small size>, and place the cylindrical light blue cup neatly on <the coaster made of smooth wood>.",
+    "Pick the smooth blue cup for liquids up, route it away from the light blue shampoo bottle small size, and drop the smooth blue cup for liquids onto the smooth round palm-sized coaster.",
+    "Use an arm to lift the smooth blue drinking cup, arc around the hand-sized shampoo bottle, and place the smooth blue drinking cup atop the grainy texture coaster.",
+    "Use an arm to move the light blue plastic cup to the coaster made of smooth wood, keeping the light blue plastic cup from bumping the curved light blue shampoo bottle.",
+    "Guide the cylindrical light blue cup with the arm around <the shampoo bottle with matte plastic> and onto <the coaster with circular shape>.",
+    "Lift the cup for holding liquids, carry it around the shampoo bottle flat bottom edge, and place the cup for holding liquids squarely on the small coaster with grain texture.",
+    "Move the medium-sized plastic blue cup toward the flat surface gray wooden coaster without passing near the blue shampoo bottle slender design, then set it down.",
+    "With an arm, pick the medium blue cylindrical cup up, bypass <the bottle of shampoo>, then place the medium blue cylindrical cup on <the small coaster with grain texture>.",
+    "Use an arm, pick the cup for holding liquids up, pass around the blue shampoo bottle slender design, then place the cup for holding liquids on the coaster with circular shape.",
+    "With an arm, lift the medium blue cylindrical cup, avoid the shampoo bottle tapered toward cap, and place the medium blue cylindrical cup on the coaster with circular shape.",
+    "Secure the cup for holding liquids, keep its path away from the shampoo bottle with white cap, and set the cup for holding liquids on the smooth round palm-sized coaster.",
+    "With an arm, lift the smooth blue cup for liquids, keep it away from the bottle of shampoo, and drop it onto the coaster made of smooth wood.",
+    "Take the cup for holding liquids in the arm, route around <the curved light blue shampoo bottle>, and set it on <the coaster made of smooth wood>.",
+    "Carry the light blue plastic cup toward <the flat round wooden coaster>, keeping clear of <the shampoo bottle with matte plastic>, and set the light blue plastic cup down.",
+    "Lift the blue rounded-bottom cup, pass by the small smooth shampoo bottle without contact, then place the blue rounded-bottom cup on the wooden coaster.",
+    "Secure the plastic cup for drinks, move it around the shampoo bottle with matte plastic, and place the plastic cup for drinks squarely on the flat round wooden coaster.",
+    "Carry the plastic cup for drinks toward the coaster with circular shape, keeping the plastic cup for drinks away from the bottle of shampoo, then set down.",
+    "With an arm, lift the medium blue cylindrical cup, route past <the bottle of shampoo>, and drop the medium blue cylindrical cup onto <the wooden coaster>.",
+    "Use an arm, take the cylindrical light blue cup past the small smooth shampoo bottle without nearing it, and rest the cylindrical light blue cup on the grainy texture coaster.",
+    "Move the blue rounded-bottom cup onto the round coaster with light streaks while avoiding the curved light blue shampoo bottle, then let go of the blue rounded-bottom cup.",
+    "With an arm, move the cup for holding liquids past the light blue shampoo bottle small size and place the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Move the cup with light blue color to the light gray round grainy coaster while avoiding the curved light blue shampoo bottle, then place the cup with light blue color on the light gray round grainy coaster.",
+    "Lift the cup for holding liquids, guide it past the shampoo bottle flat bottom edge, and rest the cup for holding liquids on the coaster with circular shape.",
+    "Lift the smooth blue cup for liquids, steer away from <the shampoo bottle tapered toward cap>, then place the smooth blue cup for liquids on <the small coaster with grain texture>.",
+    "Lift the medium blue cylindrical cup, route it away from the hand-sized shampoo bottle, then put the medium blue cylindrical cup squarely on the grainy texture coaster.",
+    "Use an arm to move the rounded base blue cup toward the light gray round grainy coaster, keeping the rounded base blue cup clear of the blue shampoo bottle slender design.",
+    "Use an arm to take the rounded base blue cup around <the shampoo bottle with matte plastic> and place the rounded base blue cup on <the flat round wooden coaster>.",
+    "Using an arm, carry the cup with light blue color around the shampoo bottle with matte plastic and place the cup with light blue color onto the flat surface gray wooden coaster.",
+    "Use an arm, keep the smooth blue drinking cup from the light blue shampoo bottle small size, and lower the smooth blue drinking cup onto the grainy texture coaster.",
+    "Use an arm: pick the light blue plastic cup up, skirt <the hand-sized shampoo bottle>, then place the light blue plastic cup onto <the round coaster with light streaks>.",
+    "Take the rounded base blue cup, route it away from the curved light blue shampoo bottle, and set the rounded base blue cup onto the smooth round palm-sized coaster.",
+    "Move the cup with light blue color to the flat surface gray wooden coaster without crossing the shampoo bottle with matte plastic, then release the cup with light blue color.",
+    "Use the arm to move the blue rounded-bottom cup past <the shampoo bottle tapered toward cap> and rest it on <the grainy texture coaster>.",
+    "Grab the blue rounded-bottom cup, guide it away from the shampoo bottle tapered toward cap, and set the blue rounded-bottom cup neatly on the small coaster with grain texture.",
+    "Use an arm to grab the plastic cup for drinks, avoid the light blue shampoo bottle small size, and set the plastic cup for drinks down on the coaster made of smooth wood.",
+    "Use an arm: take the cup with smooth plastic surface, avoid the shampoo bottle tapered toward cap during the move, and drop it on the grainy texture coaster.",
+    "With an arm, bring the medium blue cylindrical cup over to <the flat round wooden coaster> and keep clear of <the shampoo bottle with matte plastic>.",
+    "Take the cylindrical light blue cup, keep its path away from the shampoo bottle with matte plastic, and place the cylindrical light blue cup on the wooden coaster.",
+    "Use an arm to bring the cup with light blue color to the round coaster with light streaks, keeping the cup with light blue color clear of the small smooth shampoo bottle.",
+    "Use an arm: grab the medium-sized plastic blue cup, avoid the hand-sized shampoo bottle on the way, then set the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Using an arm, pick the cup for holding liquids up, skirt the blue shampoo bottle, and place the cup for holding liquids on the small coaster with grain texture.",
+    "Slide the smooth blue cup for liquids toward the wooden coaster, detouring around the hand-sized shampoo bottle, then set the smooth blue cup for liquids down.",
+    "Using an arm, grasp the rounded base blue cup, skirt the bottle of shampoo, and place the rounded base blue cup atop the wooden coaster.",
+    "Pick up the rounded base blue cup, keep its path away from <the curved light blue shampoo bottle>, and set the rounded base blue cup on <the flat round wooden coaster>.",
+    "With an arm, lift the plastic cup for drinks, avoid the shampoo bottle flat bottom edge, and set the plastic cup for drinks onto the round coaster.",
+    "Using an arm, carry the cup with smooth plastic surface past <the blue shampoo bottle> and place the cup with smooth plastic surface squarely on <the light gray streaked wooden coaster>.",
+    "Using an arm, move the blue rounded-bottom cup to <the light gray round grainy coaster> while avoiding <the bottle light blue rounded shape>, then release the blue rounded-bottom cup.",
+    "Use an arm: grasp the cup with light blue color, avoid <the blue shampoo bottle>, and place the cup with light blue color on <the wooden coaster>.",
+    "Grab the medium blue cylindrical cup, route around the bottle light blue rounded shape, then lower the medium blue cylindrical cup onto the coaster with circular shape.",
+    "Use an arm to move the cup with smooth plastic surface around the light blue shampoo bottle small size and rest the cup with smooth plastic surface on the round coaster with light streaks.",
+    "Take the cup with light blue color to the grainy texture coaster while skirting the shampoo bottle tapered toward cap, then release the cup with light blue color on the grainy texture coaster.",
+    "Lift the plastic cup for drinks, go around the hand-sized shampoo bottle, and position the plastic cup for drinks squarely on the flat surface gray wooden coaster.",
+    "Take the cylindrical light blue cup, swing wide of the curved light blue shampoo bottle, then rest the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Grab the light blue plastic cup, swing it away from <the shampoo bottle flat bottom edge>, and place the light blue plastic cup on <the coaster with circular shape>.",
+    "Arm-lift the plastic cup for drinks, swing around <the shampoo bottle tapered toward cap>, then place the plastic cup for drinks onto <the grainy texture coaster>.",
+    "Take the cup for holding liquids, keep its path away from the shampoo bottle with matte plastic, and drop the cup for holding liquids on the round coaster.",
+    "Lift the smooth blue drinking cup, keep clear of the shampoo bottle flat bottom edge, and put the smooth blue drinking cup down on the coaster with circular shape.",
+    "Using an arm, pick the cup with light blue color up, skirt the curved light blue shampoo bottle, and place the cup with light blue color on the round coaster with light streaks.",
+    "With an arm, take the blue rounded-bottom cup, avoid the hand-sized shampoo bottle, and put the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Lift the medium blue cylindrical cup, arc around the shampoo bottle with white cap, and place the medium blue cylindrical cup squarely on the light gray streaked wooden coaster.",
+    "Pick up the rounded base blue cup, avoid the hand-sized shampoo bottle along the way, and place the rounded base blue cup on the light gray round grainy coaster.",
+    "Use an arm to lift the cup with smooth plastic surface, keep distance from <the shampoo bottle tapered toward cap>, and set the cup with smooth plastic surface on <the grainy texture coaster>.",
+    "Move the light blue plastic cup to <the coaster with circular shape> while keeping its path away from <the bottle of shampoo>.",
+    "Use the arm to lift the rounded base blue cup, pass the bottle of shampoo, and place the rounded base blue cup on the wooden coaster.",
+    "Pick up the medium blue cylindrical cup, route it away from the curved light blue shampoo bottle, then set the medium blue cylindrical cup on the round coaster.",
+    "Lift the medium-sized plastic blue cup, guide it around <the blue shampoo bottle>, then put the medium-sized plastic blue cup onto <the round coaster>.",
+    "With an arm, lift the cup with smooth plastic surface, guide it past the shampoo bottle tapered toward cap, and put the cup with smooth plastic surface on the light gray streaked wooden coaster.",
+    "Move the light blue plastic cup onto the coaster with circular shape while avoiding the shampoo bottle tapered toward cap, then let go of the light blue plastic cup.",
+    "Move the cup for holding liquids onto <the round coaster with light streaks> and ensure the path stays away from <the bottle of shampoo>.",
+    "Use the arm to carry the medium-sized plastic blue cup around the blue shampoo bottle slender design, then rest the medium-sized plastic blue cup on the round coaster.",
+    "Pick up the rounded base blue cup, keep clear of <the blue shampoo bottle slender design>, and drop the rounded base blue cup onto <the small coaster with grain texture>.",
+    "Carry the plastic cup for drinks toward <the coaster with circular shape>, keeping the path clear of <the shampoo bottle flat bottom edge>, then set down.",
+    "Carry the smooth blue drinking cup toward <the smooth round palm-sized coaster>, skirting <the hand-sized shampoo bottle>, and set the smooth blue drinking cup down.",
+    "Use an arm, take the smooth blue cup for liquids, avoid <the shampoo bottle with white cap> on the way, and set on <the coaster with circular shape>.",
+    "Pick up the cup with light blue color, guide it past the shampoo bottle with matte plastic, and drop the cup with light blue color on the grainy texture coaster.",
+    "Lift the medium blue cylindrical cup, pass beside <the small smooth shampoo bottle> without contact, then place the medium blue cylindrical cup onto <the round coaster>."
+  ],
+  "unseen": [
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo container white rounded top>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the smooth bottle containing shampoo, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo container white rounded top, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the smooth bottle containing shampoo, then place the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, steer it around the smooth bottle containing shampoo, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the oval light blue shampoo container>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container white rounded top, and set it on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep clear of the oval light blue shampoo container, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the smooth bottle containing shampoo, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container white rounded top, and place it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the oval light blue shampoo container>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the shampoo container white rounded top>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the smooth bottle containing shampoo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container white rounded top>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the smooth bottle containing shampoo>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the oval light blue shampoo container>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the smooth bottle containing shampoo, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo container white rounded top, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container white rounded top>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container white rounded top, and set it on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the smooth bottle containing shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the smooth bottle containing shampoo, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the smooth bottle containing shampoo, and place it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container white rounded top>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the smooth bottle containing shampoo>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo container white rounded top>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the oval light blue shampoo container>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo container white rounded top>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo container white rounded top, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the oval light blue shampoo container, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth bottle containing shampoo>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container white rounded top, and set it on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the oval light blue shampoo container, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container white rounded top, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the smooth bottle containing shampoo, and place it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the smooth bottle containing shampoo>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, route it around <the smooth bottle containing shampoo>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the smooth bottle containing shampoo>, then set the blue cup on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the oval light blue shampoo container>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the oval light blue shampoo container>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo container white rounded top, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the smooth bottle containing shampoo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the smooth bottle containing shampoo, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth bottle containing shampoo>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo container white rounded top, and set it on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the oval light blue shampoo container, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container white rounded top, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container white rounded top, and place it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container white rounded top>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, route it around <the oval light blue shampoo container>, then place the small smooth cup onto <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container white rounded top>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the oval light blue shampoo container>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo container white rounded top>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the oval light blue shampoo container, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the oval light blue shampoo container, then set the handheld round blue cup onto the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the smooth bottle containing shampoo>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the smooth bottle containing shampoo, and set it on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep clear of the smooth bottle containing shampoo, then place the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the oval light blue shampoo container, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container white rounded top, and place it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container white rounded top>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the oval light blue shampoo container>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the oval light blue shampoo container>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo container white rounded top>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the smooth bottle containing shampoo>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the oval light blue shampoo container, then set the blue cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, steer it around the oval light blue shampoo container, then set the blue cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth bottle containing shampoo>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the smooth bottle containing shampoo, and set it on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo container white rounded top, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the oval light blue shampoo container, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the smooth bottle containing shampoo, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the oval light blue shampoo container>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the shampoo container white rounded top>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container white rounded top>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container white rounded top>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container white rounded top>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo container white rounded top, then set the handheld round blue cup down on the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode69.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode69.json
new file mode 100644
index 0000000000000000000000000000000000000000..43d903eef8d7fa8e857e9ed8b74a2951b4ebc855
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode69.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Carry the smooth blue cup for liquids toward <the small coaster with grain texture>, keeping the path clear of <the shampoo bottle with handle slot>, then set down.",
+    "With an arm, move the rounded base blue cup past the bottle with cartoon label and place the rounded base blue cup on the smooth round palm-sized coaster.",
+    "Grab the smooth blue cup for liquids, swing it away from <the yellow bottle with green top>, and place the smooth blue cup for liquids on <the flat round wooden coaster>.",
+    "Lift the light blue plastic cup, guide it around <the yellow shampoo with cartoon design>, then put the light blue plastic cup onto <the coaster with circular shape>.",
+    "Use an arm: pick the light blue plastic cup up, skirt <the yellow container with green pump>, then place the light blue plastic cup onto <the round coaster>.",
+    "Use an arm: grasp the medium-sized plastic blue cup, avoid <the smooth bottle with green top>, and place the medium-sized plastic blue cup on <the coaster with circular shape>.",
+    "With an arm, pick the light blue plastic cup up, bypass <the plastic shampoo bottle with label>, then place the light blue plastic cup on <the round coaster>.",
+    "Pick up the medium blue cylindrical cup, route it away from the yellow shampoo bottle, then set the medium blue cylindrical cup on the small coaster with grain texture.",
+    "Take the smooth blue drinking cup in the arm, route around <the plastic shampoo bottle with label>, and set it on <the coaster with circular shape>.",
+    "Lift the blue rounded-bottom cup, keep clear of the shampoo with green dispensing pump, and put the blue rounded-bottom cup down on the coaster made of smooth wood.",
+    "Secure the medium blue cylindrical cup, keep its path away from the plastic shampoo bottle with label, and set the medium blue cylindrical cup on the round coaster.",
+    "Carry the cup with light blue color toward <the coaster made of smooth wood>, skirting <the smooth bottle with green top>, and set the cup with light blue color down.",
+    "Move the blue rounded-bottom cup onto <the coaster with circular shape> and ensure the path stays away from <the yellow shampoo with cartoon design>.",
+    "Move the plastic cup for drinks to <the grainy texture coaster> while keeping its path away from <the yellow bottle with green top>.",
+    "Lift the light blue plastic cup, pass beside <the plastic shampoo bottle with label> without contact, then place the light blue plastic cup onto <the light gray streaked wooden coaster>.",
+    "Take the cup with smooth plastic surface, arc around <the bottle with cartoon label>, and place the cup with smooth plastic surface neatly on <the light gray streaked wooden coaster>.",
+    "With an arm, lift the blue rounded-bottom cup, avoid <the shampoo bottle with handle slot> on the way, and drop the blue rounded-bottom cup on <the light gray round grainy coaster>.",
+    "Using an arm, grasp the light blue plastic cup, skirt the yellow container with green pump, and place the light blue plastic cup atop the round coaster.",
+    "Use the arm to carry the blue rounded-bottom cup around the medium shampoo bottle with pump, then rest the blue rounded-bottom cup on the flat round wooden coaster.",
+    "With an arm, bring the cup with smooth plastic surface over to <the wooden coaster> and keep clear of <the shampoo bottle with handle slot>.",
+    "Use an arm to bring the medium blue cylindrical cup to the round coaster, keeping the medium blue cylindrical cup clear of the shampoo with green dispensing pump.",
+    "Lift the rounded base blue cup, guide it past the shampoo with green dispensing pump, and rest the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Move the medium-sized plastic blue cup toward the coaster made of smooth wood without passing near the shampoo bottle with rounded body, then set it down.",
+    "Use an arm, keep the blue rounded-bottom cup from the yellow shampoo with cartoon design, and lower the blue rounded-bottom cup onto the small coaster with grain texture.",
+    "Lift the blue rounded-bottom cup, arc around the shampoo with green dispensing pump, and place the blue rounded-bottom cup squarely on the coaster made of smooth wood.",
+    "Pick up the cup with smooth plastic surface, keep its path away from <the yellow shampoo bottle>, and set the cup with smooth plastic surface on <the coaster with circular shape>.",
+    "Pick up the light blue plastic cup, guide it past the hand-sized yellow shampoo bottle, and drop the light blue plastic cup on the light gray round grainy coaster.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the bottle with cartoon label, and place the cup with smooth plastic surface on the wooden coaster.",
+    "Secure the cylindrical light blue cup, move it around the smooth bottle with green top, and place the cylindrical light blue cup squarely on the wooden coaster.",
+    "Use an arm to take the light blue plastic cup around <the smooth bottle with green top> and place the light blue plastic cup on <the coaster with circular shape>.",
+    "Use an arm: grab the medium-sized plastic blue cup, avoid the yellow bottle with green top on the way, then set the medium-sized plastic blue cup on the light gray streaked wooden coaster.",
+    "Pick up the medium blue cylindrical cup, avoid the medium shampoo bottle with pump along the way, and place the medium blue cylindrical cup on the flat surface gray wooden coaster.",
+    "Take the medium blue cylindrical cup, route it away from the medium shampoo bottle with pump, and set the medium blue cylindrical cup onto the flat surface gray wooden coaster.",
+    "Move the rounded base blue cup onto the flat surface gray wooden coaster while avoiding the yellow shampoo bottle, then let go of the rounded base blue cup.",
+    "With an arm, lift the cup with light blue color, keep it away from the shampoo bottle with handle slot, and drop it onto the light gray streaked wooden coaster.",
+    "Use an arm to grab the cup with light blue color, avoid the smooth bottle with green top, and set the cup with light blue color down on the round coaster.",
+    "Using an arm, pick the smooth blue drinking cup up, skirt the shampoo bottle with handle slot, and place the smooth blue drinking cup on the wooden coaster.",
+    "Carry the cup for holding liquids toward the grainy texture coaster, keeping the cup for holding liquids away from the yellow shampoo bottle, then set down.",
+    "Use an arm, take the cup with light blue color past the yellow container with green pump without nearing it, and rest the cup with light blue color on the coaster made of smooth wood.",
+    "Use the arm to lift the medium blue cylindrical cup, pass the smooth bottle with green top, and place the medium blue cylindrical cup on the flat round wooden coaster.",
+    "Take the rounded base blue cup to the smooth round palm-sized coaster while skirting the bottle with cartoon label, then release the rounded base blue cup on the smooth round palm-sized coaster.",
+    "Use an arm to lift the rounded base blue cup, keep distance from <the yellow bottle with green top>, and set the rounded base blue cup on <the light gray round grainy coaster>.",
+    "With an arm, lift the smooth blue cup for liquids, route past <the shampoo with green dispensing pump>, and drop the smooth blue cup for liquids onto <the flat round wooden coaster>.",
+    "Move the smooth blue drinking cup to <the smooth round palm-sized coaster> while keeping the smooth blue drinking cup away from <the medium shampoo bottle with pump>, then release.",
+    "Using an arm, pick the smooth blue drinking cup up, skirt the shampoo bottle with handle slot, and place the smooth blue drinking cup on the round coaster with light streaks.",
+    "Lift the cylindrical light blue cup, pass by the shampoo bottle with handle slot without contact, then place the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Using an arm, carry the medium blue cylindrical cup past <the yellow bottle with green top> and place the medium blue cylindrical cup squarely on <the coaster made of smooth wood>.",
+    "Lift the light blue plastic cup, carry it around the shampoo bottle with handle slot, and place the light blue plastic cup squarely on the coaster with circular shape.",
+    "With an arm, lift the cup with light blue color, avoid the yellow bottle with green top, and set the cup with light blue color onto the coaster made of smooth wood.",
+    "Move the cylindrical light blue cup to the flat surface gray wooden coaster without crossing the yellow container with green pump, then release the cylindrical light blue cup.",
+    "Pick up the cup for holding liquids, keep clear of <the yellow bottle with green top>, and drop the cup for holding liquids onto <the small coaster with grain texture>.",
+    "Use an arm, pick the cup with light blue color up, pass around the plastic shampoo bottle with label, then place the cup with light blue color on the light gray round grainy coaster.",
+    "Carry the blue rounded-bottom cup toward <the round coaster with light streaks>, keeping clear of <the yellow shampoo with cartoon design>, and set the blue rounded-bottom cup down.",
+    "Lift the cup with light blue color, route it away from the yellow shampoo with cartoon design, then put the cup with light blue color squarely on the light gray streaked wooden coaster.",
+    "Grab the plastic cup for drinks, guide it away from the plastic shampoo bottle with label, and set the plastic cup for drinks neatly on the flat surface gray wooden coaster.",
+    "Slide the smooth blue cup for liquids toward the light gray round grainy coaster, detouring around the hand-sized yellow shampoo bottle, then set the smooth blue cup for liquids down.",
+    "With an arm, lift the blue rounded-bottom cup, guide it past the hand-sized yellow shampoo bottle, and put the blue rounded-bottom cup on the small coaster with grain texture.",
+    "Move the cup with light blue color onto the flat round wooden coaster while avoiding the shampoo bottle with rounded body, then let go of the cup with light blue color.",
+    "Grab the light blue plastic cup, route around the shampoo bottle with rounded body, then lower the light blue plastic cup onto the coaster made of smooth wood.",
+    "Take the cup with light blue color, keep its path away from the yellow bottle with green top, and drop the cup with light blue color on the round coaster.",
+    "Slide the rounded base blue cup over to <the flat round wooden coaster> without passing near <the yellow bottle with green top>.",
+    "Use the arm to move the smooth blue cup for liquids past <the shampoo bottle with handle slot> and rest it on <the flat surface gray wooden coaster>.",
+    "Use an arm: take the plastic cup for drinks, avoid the hand-sized yellow shampoo bottle during the move, and drop it on the small coaster with grain texture.",
+    "Use an arm to lift the smooth blue drinking cup, arc around the yellow shampoo with cartoon design, and place the smooth blue drinking cup atop the light gray round grainy coaster.",
+    "Use an arm to move the cylindrical light blue cup toward the light gray streaked wooden coaster, keeping the cylindrical light blue cup clear of the yellow shampoo with cartoon design.",
+    "Using an arm, carry the plastic cup for drinks around the shampoo bottle with handle slot and place the plastic cup for drinks onto the coaster with circular shape.",
+    "With an arm, take the medium-sized plastic blue cup, avoid the shampoo bottle with rounded body, and put the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "Take the cup with smooth plastic surface, guide it away from <the yellow shampoo with cartoon design>, and place the cup with smooth plastic surface squarely on <the wooden coaster>.",
+    "Lift the cup for holding liquids, steer away from <the medium shampoo bottle with pump>, then place the cup for holding liquids on <the flat surface gray wooden coaster>.",
+    "Take the cylindrical light blue cup, swing wide of the bottle with cartoon label, then rest the cylindrical light blue cup on the round coaster.",
+    "Lift the blue rounded-bottom cup, go around the yellow bottle with green top, and position the blue rounded-bottom cup squarely on the smooth round palm-sized coaster.",
+    "Pick the cup for holding liquids up, route it away from the yellow container with green pump, and drop the cup for holding liquids onto the wooden coaster.",
+    "Use an arm to move the blue rounded-bottom cup around the yellow shampoo with cartoon design and rest the blue rounded-bottom cup on the grainy texture coaster.",
+    "Use an arm to move the smooth blue drinking cup to the coaster made of smooth wood, keeping the smooth blue drinking cup from bumping the shampoo bottle with rounded body.",
+    "Using an arm, move the medium blue cylindrical cup to <the round coaster with light streaks> while avoiding <the yellow shampoo with cartoon design>, then release the medium blue cylindrical cup.",
+    "Move the rounded base blue cup to the light gray streaked wooden coaster while avoiding the bottle with cartoon label, then place the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Use an arm, take the light blue plastic cup, avoid <the bottle with cartoon label> on the way, and set on <the flat round wooden coaster>.",
+    "Take the smooth blue cup for liquids, keep its path away from the shampoo with green dispensing pump, and place the smooth blue cup for liquids on the wooden coaster.",
+    "Arm-lift the smooth blue drinking cup, swing around <the shampoo bottle with handle slot>, then place the smooth blue drinking cup onto <the grainy texture coaster>.",
+    "Guide the rounded base blue cup with the arm around <the shampoo bottle with handle slot> and onto <the round coaster with light streaks>.",
+    "Carry the smooth blue drinking cup toward <the flat round wooden coaster>, keeping the path clear of <the hand-sized yellow shampoo bottle>, then set down.",
+    "With an arm, move the smooth blue drinking cup past the shampoo bottle with handle slot and place the smooth blue drinking cup on the flat round wooden coaster.",
+    "Grab the rounded base blue cup, swing it away from <the shampoo bottle with handle slot>, and place the rounded base blue cup on <the coaster made of smooth wood>.",
+    "Lift the smooth blue drinking cup, guide it around <the bottle with cartoon label>, then put the smooth blue drinking cup onto <the light gray streaked wooden coaster>.",
+    "Use an arm: pick the smooth blue drinking cup up, skirt <the shampoo bottle with rounded body>, then place the smooth blue drinking cup onto <the smooth round palm-sized coaster>.",
+    "Use an arm: grasp the smooth blue drinking cup, avoid <the bottle with cartoon label>, and place the smooth blue drinking cup on <the smooth round palm-sized coaster>.",
+    "With an arm, pick the light blue plastic cup up, bypass <the smooth bottle with green top>, then place the light blue plastic cup on <the flat round wooden coaster>.",
+    "Pick up the cylindrical light blue cup, route it away from the yellow bottle with green top, then set the cylindrical light blue cup on the wooden coaster.",
+    "Take the light blue plastic cup in the arm, route around <the bottle with cartoon label>, and set it on <the grainy texture coaster>.",
+    "Lift the cup with light blue color, keep clear of the yellow shampoo with cartoon design, and put the cup with light blue color down on the small coaster with grain texture.",
+    "Secure the smooth blue drinking cup, keep its path away from the yellow container with green pump, and set the smooth blue drinking cup on the light gray round grainy coaster.",
+    "Carry the rounded base blue cup toward <the round coaster>, skirting <the yellow shampoo with cartoon design>, and set the rounded base blue cup down.",
+    "Move the smooth blue drinking cup onto <the small coaster with grain texture> and ensure the path stays away from <the bottle with cartoon label>.",
+    "Move the blue rounded-bottom cup to <the round coaster> while keeping its path away from <the yellow shampoo bottle>.",
+    "Lift the smooth blue cup for liquids, pass beside <the yellow shampoo bottle> without contact, then place the smooth blue cup for liquids onto <the wooden coaster>.",
+    "Take the cup with smooth plastic surface, arc around <the bottle with cartoon label>, and place the cup with smooth plastic surface neatly on <the flat round wooden coaster>.",
+    "With an arm, lift the rounded base blue cup, avoid <the shampoo with green dispensing pump> on the way, and drop the rounded base blue cup on <the coaster with circular shape>.",
+    "Using an arm, grasp the smooth blue drinking cup, skirt the medium shampoo bottle with pump, and place the smooth blue drinking cup atop the light gray round grainy coaster.",
+    "Use the arm to carry the rounded base blue cup around the smooth bottle with green top, then rest the rounded base blue cup on the light gray round grainy coaster.",
+    "With an arm, bring the smooth blue drinking cup over to <the coaster with circular shape> and keep clear of <the shampoo bottle with handle slot>."
+  ],
+  "unseen": [
+    "Use an arm to grab the small smooth cup, steer around <the yellow bottle with rounded edges>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the yellow bottle with rounded edges>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the yellow bottle with rounded edges>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, steer it around the yellow shampoo with pump dispenser, then set the small smooth cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the smooth plastic shampoo container>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the yellow shampoo with pump dispenser>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, guide it around <the yellow shampoo with pump dispenser>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the smooth plastic shampoo container, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow bottle with rounded edges, and set the handheld round blue cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the yellow shampoo with pump dispenser, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the yellow bottle with rounded edges, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the yellow shampoo with pump dispenser, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the yellow shampoo with pump dispenser, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the yellow bottle with rounded edges>, and place the handheld round blue cup on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the yellow shampoo with pump dispenser>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth plastic shampoo container>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the yellow shampoo with pump dispenser, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the yellow bottle with rounded edges>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the smooth plastic shampoo container>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the yellow bottle with rounded edges>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the yellow shampoo with pump dispenser, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the yellow bottle with rounded edges, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the smooth plastic shampoo container, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the yellow bottle with rounded edges, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the yellow shampoo with pump dispenser, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the yellow bottle with rounded edges, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth plastic shampoo container, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the smooth plastic shampoo container, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the yellow bottle with rounded edges>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the blue cup, avoid <the yellow shampoo with pump dispenser>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the yellow shampoo with pump dispenser>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the smooth plastic shampoo container, then set the small smooth cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the yellow bottle with rounded edges>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the yellow bottle with rounded edges>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, guide it around <the smooth plastic shampoo container>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the yellow bottle with rounded edges, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the yellow shampoo with pump dispenser, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the yellow shampoo with pump dispenser, and set the small smooth cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the smooth plastic shampoo container, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the yellow shampoo with pump dispenser, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the smooth plastic shampoo container, and place it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the yellow shampoo with pump dispenser, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the yellow bottle with rounded edges, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the yellow bottle with rounded edges>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the yellow shampoo with pump dispenser>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the yellow bottle with rounded edges>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the yellow bottle with rounded edges, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the yellow shampoo with pump dispenser>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the yellow bottle with rounded edges>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, guide it around <the smooth plastic shampoo container>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the yellow shampoo with pump dispenser, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth plastic shampoo container, and set the small smooth cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the yellow shampoo with pump dispenser, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the smooth plastic shampoo container, and place it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth plastic shampoo container, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the yellow bottle with rounded edges, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the smooth plastic shampoo container>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the yellow bottle with rounded edges>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the smooth plastic shampoo container>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the yellow shampoo with pump dispenser, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the yellow shampoo with pump dispenser>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the smooth plastic shampoo container>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the yellow shampoo with pump dispenser>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the smooth plastic shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth plastic shampoo container, and set the handheld round blue cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the yellow shampoo with pump dispenser, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the yellow bottle with rounded edges, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the smooth plastic shampoo container, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the yellow bottle with rounded edges, and set the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the yellow bottle with rounded edges, then set the blue cup down on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the yellow shampoo with pump dispenser>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the yellow shampoo with pump dispenser>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the yellow bottle with rounded edges>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the smooth plastic shampoo container, then set the handheld round blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the yellow shampoo with pump dispenser>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, route it around <the smooth plastic shampoo container>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the yellow shampoo with pump dispenser>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the yellow bottle with rounded edges, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the yellow bottle with rounded edges, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth plastic shampoo container, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the smooth plastic shampoo container, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the smooth plastic shampoo container, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the smooth plastic shampoo container, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the yellow shampoo with pump dispenser, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth plastic shampoo container, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the smooth plastic shampoo container, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the smooth plastic shampoo container>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the yellow bottle with rounded edges>, then set the small smooth cup on <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the smooth plastic shampoo container>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the smooth plastic shampoo container, then set the handheld round blue cup onto the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode7.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..f93a5254125e45463df423631ee393c169202224
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the plastic cup for drinks to the round coaster without crossing the handheld shampoo container, then release the plastic cup for drinks.",
+    "Use an arm, pick the cylindrical light blue cup up, pass around the shampoo bottle with blue cap, then place the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Use an arm: pick the light blue plastic cup up, skirt <the bottle with smooth surface>, then place the light blue plastic cup onto <the flat round wooden coaster>.",
+    "Use an arm to bring the cup for holding liquids to the light gray round grainy coaster, keeping the cup for holding liquids clear of the white shampoo bottle.",
+    "Move the blue rounded-bottom cup onto <the grainy texture coaster> and ensure the path stays away from <the medium-sized white plastic shampoo>.",
+    "Use an arm to lift the plastic cup for drinks, arc around the white shampoo bottle, and place the plastic cup for drinks atop the light gray round grainy coaster.",
+    "Take the smooth blue cup for liquids, keep its path away from the shampoo bottle with blue cap, and drop the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "Using an arm, carry the medium-sized plastic blue cup around the white and blue shampoo container and place the medium-sized plastic blue cup onto the grainy texture coaster.",
+    "Move the cup for holding liquids to <the coaster made of smooth wood> while keeping the cup for holding liquids away from <the plastic shampoo with orange label>, then release.",
+    "Use an arm: grasp the smooth blue cup for liquids, avoid <the medium-sized white plastic shampoo>, and place the smooth blue cup for liquids on <the round coaster>.",
+    "Move the cup with smooth plastic surface to the light gray round grainy coaster while avoiding the blue top shampoo bottle, then place the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Carry the blue rounded-bottom cup toward <the small coaster with grain texture>, keeping the path clear of <the shampoo bottle with blue cap>, then set down.",
+    "Take the cup with smooth plastic surface, route it away from the bottle with smooth surface, and set the cup with smooth plastic surface onto the flat round wooden coaster.",
+    "Slide the blue rounded-bottom cup toward the flat surface gray wooden coaster, detouring around the bottle with hexagonal blue cap, then set the blue rounded-bottom cup down.",
+    "Move the cup with light blue color to <the flat surface gray wooden coaster> while keeping its path away from <the blue top shampoo bottle>.",
+    "Using an arm, pick the medium-sized plastic blue cup up, skirt the blue top shampoo bottle, and place the medium-sized plastic blue cup on the wooden coaster.",
+    "Guide the smooth blue cup for liquids with the arm around <the plastic shampoo bottle> and onto <the round coaster with light streaks>.",
+    "Lift the cup for holding liquids, guide it around <the white and blue shampoo container>, then put the cup for holding liquids onto <the smooth round palm-sized coaster>.",
+    "Lift the plastic cup for drinks, keep clear of the plastic shampoo with orange label, and put the plastic cup for drinks down on the flat round wooden coaster.",
+    "Use the arm to carry the smooth blue cup for liquids around the shampoo bottle with curved sides, then rest the smooth blue cup for liquids on the light gray round grainy coaster.",
+    "Lift the smooth blue cup for liquids, route it away from the white and blue shampoo container, then put the smooth blue cup for liquids squarely on the round coaster with light streaks.",
+    "Pick up the plastic cup for drinks, keep its path away from <the handheld shampoo container>, and set the plastic cup for drinks on <the flat surface gray wooden coaster>.",
+    "Use an arm to take the light blue plastic cup around <the handheld shampoo container> and place the light blue plastic cup on <the flat round wooden coaster>.",
+    "With an arm, lift the smooth blue drinking cup, route past <the handheld shampoo container>, and drop the smooth blue drinking cup onto <the round coaster with light streaks>.",
+    "Pick up the smooth blue drinking cup, keep clear of <the shampoo bottle with blue cap>, and drop the smooth blue drinking cup onto <the coaster with circular shape>.",
+    "Using an arm, grasp the plastic cup for drinks, skirt the bottle with hexagonal blue cap, and place the plastic cup for drinks atop the coaster made of smooth wood.",
+    "Lift the cup for holding liquids, go around the bottle with smooth surface, and position the cup for holding liquids squarely on the light gray round grainy coaster.",
+    "Lift the cylindrical light blue cup, guide it past the curved shampoo bottle, and rest the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Use an arm, take the light blue plastic cup past the white shampoo bottle without nearing it, and rest the light blue plastic cup on the flat surface gray wooden coaster.",
+    "With an arm, lift the plastic cup for drinks, avoid the blue top shampoo bottle, and set the plastic cup for drinks onto the grainy texture coaster.",
+    "Take the light blue plastic cup, swing wide of the bottle with smooth surface, then rest the light blue plastic cup on the grainy texture coaster.",
+    "Use an arm, keep the smooth blue drinking cup from the plastic shampoo bottle, and lower the smooth blue drinking cup onto the wooden coaster.",
+    "Take the cup with smooth plastic surface, arc around <the bottle with smooth surface>, and place the cup with smooth plastic surface neatly on <the coaster made of smooth wood>.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the bottle with smooth surface, and place the cup with smooth plastic surface on the grainy texture coaster.",
+    "Lift the plastic cup for drinks, steer away from <the blue top shampoo bottle>, then place the plastic cup for drinks on <the light gray streaked wooden coaster>.",
+    "Lift the smooth blue drinking cup, arc around the white shampoo bottle, and place the smooth blue drinking cup squarely on the round coaster with light streaks.",
+    "Move the rounded base blue cup onto the light gray streaked wooden coaster while avoiding the handheld shampoo container, then let go of the rounded base blue cup.",
+    "Use the arm to lift the light blue plastic cup, pass the shampoo bottle with curved sides, and place the light blue plastic cup on the smooth round palm-sized coaster.",
+    "With an arm, move the cup with smooth plastic surface past the curved shampoo bottle and place the cup with smooth plastic surface on the round coaster.",
+    "Using an arm, pick the light blue plastic cup up, skirt the shampoo bottle with blue cap, and place the light blue plastic cup on the flat round wooden coaster.",
+    "Move the medium blue cylindrical cup onto the flat round wooden coaster while avoiding the shampoo bottle with blue cap, then let go of the medium blue cylindrical cup.",
+    "With an arm, take the smooth blue drinking cup, avoid the shampoo bottle with curved sides, and put the smooth blue drinking cup on the grainy texture coaster.",
+    "Carry the smooth blue drinking cup toward the coaster with circular shape, keeping the smooth blue drinking cup away from the shampoo bottle with blue cap, then set down.",
+    "Carry the cylindrical light blue cup toward <the flat surface gray wooden coaster>, skirting <the white shampoo bottle>, and set the cylindrical light blue cup down.",
+    "Using an arm, carry the cup with smooth plastic surface past <the shampoo bottle with curved sides> and place the cup with smooth plastic surface squarely on <the flat round wooden coaster>.",
+    "Using an arm, move the blue rounded-bottom cup to <the round coaster with light streaks> while avoiding <the plastic shampoo bottle>, then release the blue rounded-bottom cup.",
+    "Arm-lift the light blue plastic cup, swing around <the plastic shampoo bottle>, then place the light blue plastic cup onto <the smooth round palm-sized coaster>.",
+    "Take the cup with smooth plastic surface, guide it away from <the shampoo bottle with blue cap>, and place the cup with smooth plastic surface squarely on <the coaster with circular shape>.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid <the white and blue shampoo container> on the way, and drop the medium-sized plastic blue cup on <the coaster with circular shape>.",
+    "Use an arm, take the cup with light blue color, avoid <the bottle with smooth surface> on the way, and set on <the smooth round palm-sized coaster>.",
+    "Use an arm to lift the smooth blue cup for liquids, keep distance from <the bottle with smooth surface>, and set the smooth blue cup for liquids on <the round coaster>.",
+    "Secure the blue rounded-bottom cup, move it around the shampoo bottle with blue cap, and place the blue rounded-bottom cup squarely on the small coaster with grain texture.",
+    "Pick up the medium blue cylindrical cup, route it away from the white shampoo bottle, then set the medium blue cylindrical cup on the grainy texture coaster.",
+    "Use an arm to move the cylindrical light blue cup around the plastic shampoo with orange label and rest the cylindrical light blue cup on the small coaster with grain texture.",
+    "Pick up the medium-sized plastic blue cup, guide it past the blue top shampoo bottle, and drop the medium-sized plastic blue cup on the light gray streaked wooden coaster.",
+    "Use an arm to move the medium blue cylindrical cup to the wooden coaster, keeping the medium blue cylindrical cup from bumping the shampoo bottle with curved sides.",
+    "Grab the cup with light blue color, route around the handheld shampoo container, then lower the cup with light blue color onto the wooden coaster.",
+    "Grab the cup for holding liquids, swing it away from <the shampoo bottle with blue cap>, and place the cup for holding liquids on <the round coaster with light streaks>.",
+    "Pick up the medium-sized plastic blue cup, avoid the white and blue shampoo container along the way, and place the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Take the cup with light blue color, keep its path away from the handheld shampoo container, and place the cup with light blue color on the flat surface gray wooden coaster.",
+    "Carry the cup with smooth plastic surface toward <the grainy texture coaster>, keeping clear of <the handheld shampoo container>, and set the cup with smooth plastic surface down.",
+    "Secure the cup with light blue color, keep its path away from the plastic shampoo bottle, and set the cup with light blue color on the grainy texture coaster.",
+    "Use an arm: grab the cup with light blue color, avoid the handheld shampoo container on the way, then set the cup with light blue color on the wooden coaster.",
+    "Take the cup with smooth plastic surface in the arm, route around <the plastic shampoo bottle>, and set it on <the flat surface gray wooden coaster>.",
+    "Move the cup with light blue color toward the small coaster with grain texture without passing near the plastic shampoo with orange label, then set it down.",
+    "With an arm, bring the smooth blue drinking cup over to <the coaster with circular shape> and keep clear of <the curved shampoo bottle>.",
+    "Use an arm to move the medium-sized plastic blue cup toward the round coaster, keeping the medium-sized plastic blue cup clear of the curved shampoo bottle.",
+    "Grab the smooth blue drinking cup, guide it away from the bottle with smooth surface, and set the smooth blue drinking cup neatly on the round coaster.",
+    "Use an arm: take the rounded base blue cup, avoid the plastic shampoo with orange label during the move, and drop it on the wooden coaster.",
+    "Pick the plastic cup for drinks up, route it away from the handheld shampoo container, and drop the plastic cup for drinks onto the flat round wooden coaster.",
+    "Take the cup with light blue color to the round coaster while skirting the handheld shampoo container, then release the cup with light blue color on the round coaster.",
+    "Use the arm to move the light blue plastic cup past <the bottle with hexagonal blue cap> and rest it on <the coaster made of smooth wood>.",
+    "Use an arm to grab the cup with light blue color, avoid the curved shampoo bottle, and set the cup with light blue color down on the wooden coaster.",
+    "Slide the cup with smooth plastic surface over to <the light gray round grainy coaster> without passing near <the shampoo bottle with curved sides>.",
+    "With an arm, lift the smooth blue cup for liquids, guide it past the shampoo bottle with blue cap, and put the smooth blue cup for liquids on the light gray round grainy coaster.",
+    "Lift the plastic cup for drinks, pass by the shampoo bottle with curved sides without contact, then place the plastic cup for drinks on the light gray round grainy coaster.",
+    "Lift the medium blue cylindrical cup, pass beside <the shampoo bottle with curved sides> without contact, then place the medium blue cylindrical cup onto <the wooden coaster>.",
+    "Lift the cup for holding liquids, carry it around the shampoo bottle with blue cap, and place the cup for holding liquids squarely on the round coaster.",
+    "With an arm, lift the cup with smooth plastic surface, keep it away from the handheld shampoo container, and drop it onto the coaster with circular shape.",
+    "With an arm, pick the medium-sized plastic blue cup up, bypass <the blue top shampoo bottle>, then place the medium-sized plastic blue cup on <the round coaster with light streaks>.",
+    "Move the blue rounded-bottom cup to the round coaster with light streaks without crossing the bottle with smooth surface, then release the blue rounded-bottom cup.",
+    "Use an arm, pick the cylindrical light blue cup up, pass around the white shampoo bottle, then place the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Use an arm: pick the cylindrical light blue cup up, skirt <the curved shampoo bottle>, then place the cylindrical light blue cup onto <the light gray round grainy coaster>.",
+    "Use an arm to bring the blue rounded-bottom cup to the light gray round grainy coaster, keeping the blue rounded-bottom cup clear of the blue top shampoo bottle.",
+    "Move the plastic cup for drinks onto <the small coaster with grain texture> and ensure the path stays away from <the blue top shampoo bottle>.",
+    "Use an arm to lift the medium blue cylindrical cup, arc around the shampoo bottle with curved sides, and place the medium blue cylindrical cup atop the round coaster.",
+    "Take the cylindrical light blue cup, keep its path away from the bottle with hexagonal blue cap, and drop the cylindrical light blue cup on the coaster with circular shape.",
+    "Using an arm, carry the rounded base blue cup around the white shampoo bottle and place the rounded base blue cup onto the round coaster.",
+    "Move the cup for holding liquids to <the light gray round grainy coaster> while keeping the cup for holding liquids away from <the blue top shampoo bottle>, then release.",
+    "Use an arm: grasp the smooth blue cup for liquids, avoid <the plastic shampoo with orange label>, and place the smooth blue cup for liquids on <the round coaster>.",
+    "Move the rounded base blue cup to the round coaster with light streaks while avoiding the white shampoo bottle, then place the rounded base blue cup on the round coaster with light streaks.",
+    "Carry the rounded base blue cup toward <the small coaster with grain texture>, keeping the path clear of <the handheld shampoo container>, then set down.",
+    "Take the smooth blue cup for liquids, route it away from the shampoo bottle with curved sides, and set the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Slide the cup with light blue color toward the flat surface gray wooden coaster, detouring around the white and blue shampoo container, then set the cup with light blue color down.",
+    "Move the medium blue cylindrical cup to <the small coaster with grain texture> while keeping its path away from <the blue top shampoo bottle>.",
+    "Using an arm, pick the cup with smooth plastic surface up, skirt the shampoo bottle with blue cap, and place the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "Guide the cylindrical light blue cup with the arm around <the white shampoo bottle> and onto <the small coaster with grain texture>.",
+    "Lift the rounded base blue cup, guide it around <the handheld shampoo container>, then put the rounded base blue cup onto <the smooth round palm-sized coaster>.",
+    "Lift the cylindrical light blue cup, keep clear of the bottle with hexagonal blue cap, and put the cylindrical light blue cup down on the small coaster with grain texture.",
+    "Use the arm to carry the medium blue cylindrical cup around the shampoo bottle with blue cap, then rest the medium blue cylindrical cup on the light gray round grainy coaster."
+  ],
+  "unseen": [
+    "Pick up the small smooth cup, keep it clear of <the blue-capped shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the white shampoo with orange design, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the white shampoo with orange design>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container in white and blue>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo container in white and blue, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the blue-capped shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container in white and blue, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo container in white and blue>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the white shampoo with orange design, and set the handheld round blue cup on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo container in white and blue, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container in white and blue, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the blue-capped shampoo bottle>, and place the small smooth cup on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the white shampoo with orange design>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, steer it around the blue-capped shampoo bottle, then set the blue cup onto the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the blue-capped shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container in white and blue>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo container in white and blue, and set it on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the white shampoo with orange design, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the blue-capped shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the white shampoo with orange design>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the blue-capped shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the white shampoo with orange design>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the white shampoo with orange design, and place it on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the white shampoo with orange design>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the white shampoo with orange design>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, steer it around the shampoo container in white and blue, then set the small smooth cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo container in white and blue>, then set the blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the blue-capped shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the blue-capped shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the blue-capped shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container in white and blue, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the white shampoo with orange design>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the white shampoo with orange design, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo container in white and blue>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white shampoo with orange design, and place it on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container in white and blue>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep it clear of <the white shampoo with orange design>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, steer it around the white shampoo with orange design, then set the blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white shampoo with orange design>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the blue-capped shampoo bottle, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the blue-capped shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the blue-capped shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the white shampoo with orange design>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep clear of the white shampoo with orange design, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container in white and blue, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the blue-capped shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the blue-capped shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo container in white and blue>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container in white and blue>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container in white and blue, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the white shampoo with orange design, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container in white and blue, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the blue-capped shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo container in white and blue, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white shampoo with orange design, and place it on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white shampoo with orange design>, and place the small smooth cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, steer it around the white shampoo with orange design, then set the small smooth cup onto the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the white shampoo with orange design>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container in white and blue>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container in white and blue, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the blue-capped shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white shampoo with orange design, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the blue-capped shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the white shampoo with orange design>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container in white and blue, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container in white and blue>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the white shampoo with orange design>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the white shampoo with orange design, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container in white and blue>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container in white and blue>, and set the small smooth cup on <the light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode70.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode70.json
new file mode 100644
index 0000000000000000000000000000000000000000..51b453c1cec3f1b86ee353c7ef06d3a87cefe461
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode70.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the rounded base blue cup to <the round coaster> while keeping its path away from <the shampoo bottle with blue cap>.",
+    "With an arm, lift the light blue plastic cup, route past <the bottle with smooth surface>, and drop the light blue plastic cup onto <the grainy texture coaster>.",
+    "Move the light blue plastic cup to <the round coaster> while keeping the light blue plastic cup away from <the plastic shampoo with orange label>, then release.",
+    "Using an arm, grasp the plastic cup for drinks, skirt the plastic shampoo with orange label, and place the plastic cup for drinks atop the light gray round grainy coaster.",
+    "Arm-lift the cylindrical light blue cup, swing around <the shampoo bottle with blue cap>, then place the cylindrical light blue cup onto <the flat round wooden coaster>.",
+    "With an arm, lift the plastic cup for drinks, keep it away from the medium-sized white plastic shampoo, and drop it onto the flat surface gray wooden coaster.",
+    "Using an arm, pick the plastic cup for drinks up, skirt the shampoo bottle with curved sides, and place the plastic cup for drinks on the round coaster.",
+    "With an arm, move the medium blue cylindrical cup past the shampoo bottle with blue cap and place the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Pick up the cylindrical light blue cup, guide it past the plastic shampoo with orange label, and drop the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Move the medium blue cylindrical cup onto <the round coaster> and ensure the path stays away from <the blue top shampoo bottle>.",
+    "Use an arm, pick the smooth blue cup for liquids up, pass around the curved shampoo bottle, then place the smooth blue cup for liquids on the round coaster.",
+    "Use an arm, keep the medium blue cylindrical cup from the white shampoo bottle, and lower the medium blue cylindrical cup onto the small coaster with grain texture.",
+    "Secure the cup for holding liquids, move it around the white shampoo bottle, and place the cup for holding liquids squarely on the light gray round grainy coaster.",
+    "Take the smooth blue drinking cup, arc around <the curved shampoo bottle>, and place the smooth blue drinking cup neatly on <the flat round wooden coaster>.",
+    "Lift the cup for holding liquids, carry it around the plastic shampoo bottle, and place the cup for holding liquids squarely on the coaster made of smooth wood.",
+    "Grab the smooth blue drinking cup, route around the plastic shampoo bottle, then lower the smooth blue drinking cup onto the coaster with circular shape.",
+    "Pick up the medium-sized plastic blue cup, keep clear of <the medium-sized white plastic shampoo>, and drop the medium-sized plastic blue cup onto <the grainy texture coaster>.",
+    "Take the cylindrical light blue cup, guide it away from <the plastic shampoo bottle>, and place the cylindrical light blue cup squarely on <the small coaster with grain texture>.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid <the bottle with smooth surface> on the way, and drop the medium-sized plastic blue cup on <the light gray streaked wooden coaster>.",
+    "Using an arm, carry the plastic cup for drinks around the blue top shampoo bottle and place the plastic cup for drinks onto the flat round wooden coaster.",
+    "Pick up the plastic cup for drinks, keep its path away from <the white and blue shampoo container>, and set the plastic cup for drinks on <the flat surface gray wooden coaster>.",
+    "Lift the light blue plastic cup, arc around the white and blue shampoo container, and place the light blue plastic cup squarely on the smooth round palm-sized coaster.",
+    "Use an arm to bring the cup with light blue color to the light gray round grainy coaster, keeping the cup with light blue color clear of the shampoo bottle with curved sides.",
+    "Use the arm to carry the blue rounded-bottom cup around the shampoo bottle with blue cap, then rest the blue rounded-bottom cup on the wooden coaster.",
+    "Use an arm to take the cylindrical light blue cup around <the blue top shampoo bottle> and place the cylindrical light blue cup on <the wooden coaster>.",
+    "Use the arm to lift the blue rounded-bottom cup, pass the blue top shampoo bottle, and place the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Slide the cylindrical light blue cup over to <the grainy texture coaster> without passing near <the medium-sized white plastic shampoo>.",
+    "Lift the blue rounded-bottom cup, go around the white shampoo bottle, and position the blue rounded-bottom cup squarely on the flat round wooden coaster.",
+    "Use an arm to lift the cylindrical light blue cup, keep distance from <the white and blue shampoo container>, and set the cylindrical light blue cup on <the round coaster with light streaks>.",
+    "Take the blue rounded-bottom cup, route it away from the curved shampoo bottle, and set the blue rounded-bottom cup onto the flat round wooden coaster.",
+    "Grab the medium blue cylindrical cup, guide it away from the medium-sized white plastic shampoo, and set the medium blue cylindrical cup neatly on the light gray streaked wooden coaster.",
+    "Pick the cup for holding liquids up, route it away from the shampoo bottle with blue cap, and drop the cup for holding liquids onto the coaster made of smooth wood.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the bottle with smooth surface, and set the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Use an arm to grab the rounded base blue cup, avoid the bottle with hexagonal blue cap, and set the rounded base blue cup down on the light gray streaked wooden coaster.",
+    "Move the plastic cup for drinks onto the grainy texture coaster while avoiding the plastic shampoo bottle, then let go of the plastic cup for drinks.",
+    "With an arm, lift the blue rounded-bottom cup, guide it past the handheld shampoo container, and put the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "With an arm, pick the blue rounded-bottom cup up, bypass <the blue top shampoo bottle>, then place the blue rounded-bottom cup on <the wooden coaster>.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the bottle with hexagonal blue cap, and place the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Take the light blue plastic cup in the arm, route around <the bottle with smooth surface>, and set it on <the wooden coaster>.",
+    "With an arm, take the cup with smooth plastic surface, avoid the white and blue shampoo container, and put the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Lift the cylindrical light blue cup, guide it past the white and blue shampoo container, and rest the cylindrical light blue cup on the coaster with circular shape.",
+    "Lift the cylindrical light blue cup, guide it around <the handheld shampoo container>, then put the cylindrical light blue cup onto <the light gray round grainy coaster>.",
+    "Slide the rounded base blue cup toward the coaster made of smooth wood, detouring around the bottle with smooth surface, then set the rounded base blue cup down.",
+    "Using an arm, move the medium-sized plastic blue cup to <the wooden coaster> while avoiding <the handheld shampoo container>, then release the medium-sized plastic blue cup.",
+    "Grab the cup with smooth plastic surface, swing it away from <the blue top shampoo bottle>, and place the cup with smooth plastic surface on <the smooth round palm-sized coaster>.",
+    "Use an arm to move the smooth blue cup for liquids around the white and blue shampoo container and rest the smooth blue cup for liquids on the round coaster.",
+    "Using an arm, carry the cup for holding liquids past <the medium-sized white plastic shampoo> and place the cup for holding liquids squarely on <the round coaster>.",
+    "Use an arm, take the plastic cup for drinks, avoid <the medium-sized white plastic shampoo> on the way, and set on <the round coaster with light streaks>.",
+    "Take the rounded base blue cup, keep its path away from the shampoo bottle with blue cap, and place the rounded base blue cup on the small coaster with grain texture.",
+    "Carry the cylindrical light blue cup toward the round coaster, keeping the cylindrical light blue cup away from the blue top shampoo bottle, then set down.",
+    "Lift the blue rounded-bottom cup, steer away from <the shampoo bottle with blue cap>, then place the blue rounded-bottom cup on <the round coaster with light streaks>.",
+    "Carry the medium blue cylindrical cup toward <the round coaster>, keeping clear of <the medium-sized white plastic shampoo>, and set the medium blue cylindrical cup down.",
+    "Move the medium blue cylindrical cup to the coaster made of smooth wood without crossing the bottle with smooth surface, then release the medium blue cylindrical cup.",
+    "Move the cup with smooth plastic surface to the flat surface gray wooden coaster while avoiding the plastic shampoo with orange label, then place the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "Pick up the cylindrical light blue cup, route it away from the blue top shampoo bottle, then set the cylindrical light blue cup on the round coaster with light streaks.",
+    "Move the medium-sized plastic blue cup onto the coaster with circular shape while avoiding the plastic shampoo with orange label, then let go of the medium-sized plastic blue cup.",
+    "Use an arm: take the blue rounded-bottom cup, avoid the shampoo bottle with blue cap during the move, and drop it on the round coaster.",
+    "Lift the cup with smooth plastic surface, pass by the medium-sized white plastic shampoo without contact, then place the cup with smooth plastic surface on the grainy texture coaster.",
+    "Pick up the light blue plastic cup, avoid the shampoo bottle with curved sides along the way, and place the light blue plastic cup on the light gray streaked wooden coaster.",
+    "Take the cup with smooth plastic surface to the flat surface gray wooden coaster while skirting the white and blue shampoo container, then release the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "Use an arm to move the cup with smooth plastic surface toward the coaster with circular shape, keeping the cup with smooth plastic surface clear of the plastic shampoo with orange label.",
+    "Use an arm, take the light blue plastic cup past the white shampoo bottle without nearing it, and rest the light blue plastic cup on the round coaster.",
+    "Take the medium blue cylindrical cup, keep its path away from the curved shampoo bottle, and drop the medium blue cylindrical cup on the flat round wooden coaster.",
+    "Use an arm to move the cup with light blue color to the coaster with circular shape, keeping the cup with light blue color from bumping the medium-sized white plastic shampoo.",
+    "Secure the smooth blue drinking cup, keep its path away from the plastic shampoo with orange label, and set the smooth blue drinking cup on the coaster made of smooth wood.",
+    "Lift the smooth blue cup for liquids, route it away from the handheld shampoo container, then put the smooth blue cup for liquids squarely on the light gray round grainy coaster.",
+    "Lift the plastic cup for drinks, keep clear of the handheld shampoo container, and put the plastic cup for drinks down on the grainy texture coaster.",
+    "Guide the rounded base blue cup with the arm around <the shampoo bottle with blue cap> and onto <the flat surface gray wooden coaster>.",
+    "Carry the cup for holding liquids toward <the light gray round grainy coaster>, keeping the path clear of <the handheld shampoo container>, then set down.",
+    "Take the cup with smooth plastic surface, swing wide of the bottle with hexagonal blue cap, then rest the cup with smooth plastic surface on the small coaster with grain texture.",
+    "Use an arm: grab the cylindrical light blue cup, avoid the bottle with smooth surface on the way, then set the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Use an arm: pick the cup with light blue color up, skirt <the plastic shampoo bottle>, then place the cup with light blue color onto <the light gray round grainy coaster>.",
+    "With an arm, bring the medium blue cylindrical cup over to <the grainy texture coaster> and keep clear of <the shampoo bottle with curved sides>.",
+    "Lift the cup for holding liquids, pass beside <the handheld shampoo container> without contact, then place the cup for holding liquids onto <the light gray streaked wooden coaster>.",
+    "Using an arm, pick the smooth blue drinking cup up, skirt the shampoo bottle with blue cap, and place the smooth blue drinking cup on the wooden coaster.",
+    "Use an arm to lift the cup for holding liquids, arc around the curved shampoo bottle, and place the cup for holding liquids atop the round coaster with light streaks.",
+    "Use the arm to move the medium blue cylindrical cup past <the handheld shampoo container> and rest it on <the wooden coaster>.",
+    "Move the medium-sized plastic blue cup toward the grainy texture coaster without passing near the white and blue shampoo container, then set it down.",
+    "Use an arm: grasp the cup with smooth plastic surface, avoid <the curved shampoo bottle>, and place the cup with smooth plastic surface on <the grainy texture coaster>.",
+    "Carry the light blue plastic cup toward <the grainy texture coaster>, skirting <the bottle with smooth surface>, and set the light blue plastic cup down.",
+    "Move the smooth blue cup for liquids to <the round coaster with light streaks> while keeping its path away from <the bottle with smooth surface>.",
+    "With an arm, lift the smooth blue drinking cup, route past <the bottle with smooth surface>, and drop the smooth blue drinking cup onto <the coaster made of smooth wood>.",
+    "Move the smooth blue cup for liquids to <the grainy texture coaster> while keeping the smooth blue cup for liquids away from <the shampoo bottle with curved sides>, then release.",
+    "Using an arm, grasp the cup with smooth plastic surface, skirt the shampoo bottle with curved sides, and place the cup with smooth plastic surface atop the smooth round palm-sized coaster.",
+    "Arm-lift the smooth blue drinking cup, swing around <the bottle with smooth surface>, then place the smooth blue drinking cup onto <the round coaster with light streaks>.",
+    "With an arm, lift the plastic cup for drinks, keep it away from the shampoo bottle with curved sides, and drop it onto the coaster with circular shape.",
+    "Using an arm, pick the smooth blue cup for liquids up, skirt the handheld shampoo container, and place the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "With an arm, move the cup with smooth plastic surface past the blue top shampoo bottle and place the cup with smooth plastic surface on the coaster with circular shape.",
+    "Pick up the light blue plastic cup, guide it past the handheld shampoo container, and drop the light blue plastic cup on the wooden coaster.",
+    "Move the medium blue cylindrical cup onto <the round coaster with light streaks> and ensure the path stays away from <the blue top shampoo bottle>.",
+    "Use an arm, pick the cup for holding liquids up, pass around the bottle with smooth surface, then place the cup for holding liquids on the small coaster with grain texture.",
+    "Use an arm, keep the smooth blue drinking cup from the white and blue shampoo container, and lower the smooth blue drinking cup onto the small coaster with grain texture.",
+    "Secure the cup for holding liquids, move it around the blue top shampoo bottle, and place the cup for holding liquids squarely on the round coaster.",
+    "Take the medium blue cylindrical cup, arc around <the shampoo bottle with blue cap>, and place the medium blue cylindrical cup neatly on <the light gray streaked wooden coaster>.",
+    "Lift the cup with smooth plastic surface, carry it around the handheld shampoo container, and place the cup with smooth plastic surface squarely on the flat round wooden coaster.",
+    "Grab the smooth blue cup for liquids, route around the white shampoo bottle, then lower the smooth blue cup for liquids onto the light gray round grainy coaster.",
+    "Pick up the cylindrical light blue cup, keep clear of <the plastic shampoo with orange label>, and drop the cylindrical light blue cup onto <the round coaster with light streaks>.",
+    "Take the rounded base blue cup, guide it away from <the handheld shampoo container>, and place the rounded base blue cup squarely on <the coaster with circular shape>.",
+    "With an arm, lift the plastic cup for drinks, avoid <the blue top shampoo bottle> on the way, and drop the plastic cup for drinks on <the coaster made of smooth wood>.",
+    "Using an arm, carry the rounded base blue cup around the white shampoo bottle and place the rounded base blue cup onto the round coaster."
+  ],
+  "unseen": [
+    "Using an arm, pick up the blue cup, steer clear of <the blue-capped shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the white shampoo with orange design, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the white shampoo with orange design, then set the blue cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the white shampoo with orange design>, then set the handheld round blue cup on <the light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the blue-capped shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the white shampoo with orange design, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white shampoo with orange design>, and place the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the blue-capped shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the blue-capped shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the white shampoo with orange design, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the blue-capped shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container in white and blue, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container in white and blue, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container in white and blue>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the blue-capped shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container in white and blue, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the blue-capped shampoo bottle, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the blue-capped shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the blue-capped shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo container in white and blue, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white shampoo with orange design>, and place the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the blue-capped shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the white shampoo with orange design>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container in white and blue, and place the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container in white and blue, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo container in white and blue>, and place it on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container in white and blue>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the white shampoo with orange design, and place it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the white shampoo with orange design, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo container in white and blue>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the white shampoo with orange design>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo container in white and blue, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the blue-capped shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the blue-capped shampoo bottle, and set it on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the blue-capped shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white shampoo with orange design, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the white shampoo with orange design>, and place it on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container in white and blue>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the white shampoo with orange design, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo container in white and blue, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the white shampoo with orange design>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the white shampoo with orange design>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo container in white and blue, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container in white and blue>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the blue-capped shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the blue-capped shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the blue-capped shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container in white and blue, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the white shampoo with orange design>, and place it on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the blue-capped shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container in white and blue, and place it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo container in white and blue, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the blue-capped shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the white shampoo with orange design>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the white shampoo with orange design, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container in white and blue>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the blue-capped shampoo bottle, and set it on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the blue-capped shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the blue-capped shampoo bottle, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the blue-capped shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white shampoo with orange design>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the blue-capped shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container in white and blue, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the white shampoo with orange design, then set the handheld round blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo container in white and blue, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the white shampoo with orange design>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo container in white and blue, and set it on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container in white and blue>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the blue-capped shampoo bottle, and place the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container in white and blue, then place the small smooth cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the white shampoo with orange design, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the blue-capped shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container in white and blue, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode71.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode71.json
new file mode 100644
index 0000000000000000000000000000000000000000..611138d6a9837471494d56ca4eecaae01059561c
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode71.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the smooth blue cup for liquids, keep its path away from <the blue shampoo bottle slender design>, and set the smooth blue cup for liquids on <the coaster made of smooth wood>.",
+    "Move the cup for holding liquids onto the round coaster while avoiding the bottle of shampoo, then let go of the cup for holding liquids.",
+    "Slide the cup with smooth plastic surface over to <the light gray round grainy coaster> without passing near <the shampoo bottle tapered toward cap>.",
+    "Take the smooth blue drinking cup, route it away from the light blue shampoo bottle small size, and set the smooth blue drinking cup onto the coaster made of smooth wood.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the shampoo bottle flat bottom edge, and place the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Use an arm, take the medium-sized plastic blue cup, avoid <the small smooth shampoo bottle> on the way, and set on <the grainy texture coaster>.",
+    "Pick up the smooth blue cup for liquids, keep clear of <the shampoo bottle with matte plastic>, and drop the smooth blue cup for liquids onto <the round coaster with light streaks>.",
+    "Move the light blue plastic cup to <the round coaster with light streaks> while keeping its path away from <the small smooth shampoo bottle>.",
+    "Use an arm to grab the cup with smooth plastic surface, avoid the curved light blue shampoo bottle, and set the cup with smooth plastic surface down on the small coaster with grain texture.",
+    "Carry the cup with light blue color toward <the light gray round grainy coaster>, keeping the path clear of <the light blue shampoo bottle small size>, then set down.",
+    "Move the blue rounded-bottom cup onto the flat round wooden coaster while avoiding the small smooth shampoo bottle, then let go of the blue rounded-bottom cup.",
+    "Grab the light blue plastic cup, guide it away from the curved light blue shampoo bottle, and set the light blue plastic cup neatly on the coaster made of smooth wood.",
+    "With an arm, lift the cylindrical light blue cup, avoid <the blue shampoo bottle> on the way, and drop the cylindrical light blue cup on <the round coaster with light streaks>.",
+    "With an arm, lift the cylindrical light blue cup, route past <the hand-sized shampoo bottle>, and drop the cylindrical light blue cup onto <the grainy texture coaster>.",
+    "Take the rounded base blue cup, swing wide of the hand-sized shampoo bottle, then rest the rounded base blue cup on the light gray round grainy coaster.",
+    "Take the smooth blue drinking cup, keep its path away from the light blue shampoo bottle small size, and drop the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "Use an arm to move the cup with smooth plastic surface to the small coaster with grain texture, keeping the cup with smooth plastic surface from bumping the small smooth shampoo bottle.",
+    "Use an arm, take the smooth blue drinking cup past the shampoo bottle with white cap without nearing it, and rest the smooth blue drinking cup on the coaster made of smooth wood.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid the shampoo bottle tapered toward cap, and set the medium-sized plastic blue cup onto the flat surface gray wooden coaster.",
+    "Lift the cup with smooth plastic surface, steer away from <the light blue shampoo bottle small size>, then place the cup with smooth plastic surface on <the flat round wooden coaster>.",
+    "Using an arm, carry the plastic cup for drinks around the blue shampoo bottle and place the plastic cup for drinks onto the round coaster.",
+    "Lift the smooth blue cup for liquids, keep clear of the shampoo bottle flat bottom edge, and put the smooth blue cup for liquids down on the flat round wooden coaster.",
+    "Lift the medium-sized plastic blue cup, guide it around <the blue shampoo bottle slender design>, then put the medium-sized plastic blue cup onto <the light gray streaked wooden coaster>.",
+    "Lift the smooth blue cup for liquids, go around the small smooth shampoo bottle, and position the smooth blue cup for liquids squarely on the flat surface gray wooden coaster.",
+    "Use an arm: pick the cylindrical light blue cup up, skirt <the blue shampoo bottle>, then place the cylindrical light blue cup onto <the grainy texture coaster>.",
+    "Secure the cup with light blue color, keep its path away from the curved light blue shampoo bottle, and set the cup with light blue color on the coaster with circular shape.",
+    "Lift the cylindrical light blue cup, carry it around the shampoo bottle tapered toward cap, and place the cylindrical light blue cup squarely on the smooth round palm-sized coaster.",
+    "Use the arm to lift the smooth blue drinking cup, pass the hand-sized shampoo bottle, and place the smooth blue drinking cup on the round coaster with light streaks.",
+    "Use an arm: grasp the cup with light blue color, avoid <the hand-sized shampoo bottle>, and place the cup with light blue color on <the wooden coaster>.",
+    "Use an arm: take the smooth blue drinking cup, avoid the shampoo bottle flat bottom edge during the move, and drop it on the small coaster with grain texture.",
+    "Lift the plastic cup for drinks, arc around the shampoo bottle with white cap, and place the plastic cup for drinks squarely on the wooden coaster.",
+    "Use an arm, keep the cup with light blue color from the blue shampoo bottle slender design, and lower the cup with light blue color onto the coaster with circular shape.",
+    "With an arm, lift the smooth blue drinking cup, guide it past the shampoo bottle flat bottom edge, and put the smooth blue drinking cup on the coaster with circular shape.",
+    "Grab the cylindrical light blue cup, route around the shampoo bottle flat bottom edge, then lower the cylindrical light blue cup onto the light gray streaked wooden coaster.",
+    "Pick up the rounded base blue cup, avoid the shampoo bottle tapered toward cap along the way, and place the rounded base blue cup on the round coaster.",
+    "Take the blue rounded-bottom cup, arc around <the light blue shampoo bottle small size>, and place the blue rounded-bottom cup neatly on <the coaster made of smooth wood>.",
+    "Use an arm, pick the plastic cup for drinks up, pass around the small smooth shampoo bottle, then place the plastic cup for drinks on the round coaster.",
+    "Use the arm to move the smooth blue cup for liquids past <the light blue shampoo bottle small size> and rest it on <the wooden coaster>.",
+    "Take the smooth blue drinking cup, keep its path away from the blue shampoo bottle slender design, and place the smooth blue drinking cup on the coaster with circular shape.",
+    "Use an arm to move the plastic cup for drinks around the curved light blue shampoo bottle and rest the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Lift the cup with smooth plastic surface, pass by the blue shampoo bottle without contact, then place the cup with smooth plastic surface on the round coaster with light streaks.",
+    "Carry the smooth blue cup for liquids toward <the coaster with circular shape>, keeping clear of <the small smooth shampoo bottle>, and set the smooth blue cup for liquids down.",
+    "Take the cup with smooth plastic surface in the arm, route around <the hand-sized shampoo bottle>, and set it on <the grainy texture coaster>.",
+    "With an arm, move the cylindrical light blue cup past the shampoo bottle tapered toward cap and place the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Move the rounded base blue cup to <the flat surface gray wooden coaster> while keeping the rounded base blue cup away from <the bottle of shampoo>, then release.",
+    "Use the arm to carry the cup with smooth plastic surface around the shampoo bottle flat bottom edge, then rest the cup with smooth plastic surface on the grainy texture coaster.",
+    "Using an arm, carry the smooth blue drinking cup past <the hand-sized shampoo bottle> and place the smooth blue drinking cup squarely on <the coaster with circular shape>.",
+    "Carry the cylindrical light blue cup toward <the round coaster>, skirting <the bottle of shampoo>, and set the cylindrical light blue cup down.",
+    "Guide the smooth blue drinking cup with the arm around <the hand-sized shampoo bottle> and onto <the flat round wooden coaster>.",
+    "Using an arm, pick the plastic cup for drinks up, skirt the shampoo bottle tapered toward cap, and place the plastic cup for drinks on the light gray round grainy coaster.",
+    "Use an arm to move the rounded base blue cup toward the flat round wooden coaster, keeping the rounded base blue cup clear of the shampoo bottle with white cap.",
+    "Use an arm to take the plastic cup for drinks around <the blue shampoo bottle slender design> and place the plastic cup for drinks on <the light gray round grainy coaster>.",
+    "With an arm, pick the cup for holding liquids up, bypass <the shampoo bottle flat bottom edge>, then place the cup for holding liquids on <the light gray streaked wooden coaster>.",
+    "Using an arm, grasp the medium blue cylindrical cup, skirt the hand-sized shampoo bottle, and place the medium blue cylindrical cup atop the round coaster with light streaks.",
+    "Lift the cup for holding liquids, guide it past the shampoo bottle with white cap, and rest the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Pick the cup with light blue color up, route it away from the blue shampoo bottle, and drop the cup with light blue color onto the coaster with circular shape.",
+    "Use an arm: grab the rounded base blue cup, avoid the shampoo bottle with white cap on the way, then set the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Use an arm to lift the smooth blue cup for liquids, keep distance from <the shampoo bottle tapered toward cap>, and set the smooth blue cup for liquids on <the flat round wooden coaster>.",
+    "Take the medium blue cylindrical cup, guide it away from <the shampoo bottle with matte plastic>, and place the medium blue cylindrical cup squarely on <the coaster made of smooth wood>.",
+    "Grab the plastic cup for drinks, swing it away from <the shampoo bottle with matte plastic>, and place the plastic cup for drinks on <the light gray streaked wooden coaster>.",
+    "With an arm, take the plastic cup for drinks, avoid the shampoo bottle with matte plastic, and put the plastic cup for drinks on the light gray round grainy coaster.",
+    "Carry the smooth blue drinking cup toward the coaster with circular shape, keeping the smooth blue drinking cup away from the bottle light blue rounded shape, then set down.",
+    "Move the plastic cup for drinks to the light gray streaked wooden coaster without crossing the hand-sized shampoo bottle, then release the plastic cup for drinks.",
+    "Using an arm, move the cup with smooth plastic surface to <the wooden coaster> while avoiding <the bottle of shampoo>, then release the cup with smooth plastic surface.",
+    "Take the plastic cup for drinks to the light gray streaked wooden coaster while skirting the blue shampoo bottle slender design, then release the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Move the medium-sized plastic blue cup toward the round coaster with light streaks without passing near the shampoo bottle tapered toward cap, then set it down.",
+    "Pick up the plastic cup for drinks, guide it past the shampoo bottle tapered toward cap, and drop the plastic cup for drinks on the coaster made of smooth wood.",
+    "Arm-lift the cup for holding liquids, swing around <the curved light blue shampoo bottle>, then place the cup for holding liquids onto <the smooth round palm-sized coaster>.",
+    "Slide the smooth blue drinking cup toward the coaster with circular shape, detouring around the light blue shampoo bottle small size, then set the smooth blue drinking cup down.",
+    "With an arm, bring the light blue plastic cup over to <the wooden coaster> and keep clear of <the shampoo bottle with white cap>.",
+    "Use an arm to bring the cylindrical light blue cup to the round coaster with light streaks, keeping the cylindrical light blue cup clear of the bottle of shampoo.",
+    "Lift the smooth blue drinking cup, pass beside <the shampoo bottle with white cap> without contact, then place the smooth blue drinking cup onto <the coaster made of smooth wood>.",
+    "Pick up the rounded base blue cup, route it away from the shampoo bottle flat bottom edge, then set the rounded base blue cup on the coaster with circular shape.",
+    "Move the medium-sized plastic blue cup to the flat round wooden coaster while avoiding the blue shampoo bottle slender design, then place the medium-sized plastic blue cup on the flat round wooden coaster.",
+    "Move the smooth blue cup for liquids onto <the smooth round palm-sized coaster> and ensure the path stays away from <the shampoo bottle flat bottom edge>.",
+    "Lift the cylindrical light blue cup, route it away from the bottle light blue rounded shape, then put the cylindrical light blue cup squarely on the light gray round grainy coaster.",
+    "Secure the light blue plastic cup, move it around the bottle of shampoo, and place the light blue plastic cup squarely on the light gray round grainy coaster.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the blue shampoo bottle slender design, and place the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Use an arm to lift the plastic cup for drinks, arc around the small smooth shampoo bottle, and place the plastic cup for drinks atop the smooth round palm-sized coaster.",
+    "With an arm, lift the cup with light blue color, keep it away from the shampoo bottle with matte plastic, and drop it onto the flat surface gray wooden coaster.",
+    "Pick up the rounded base blue cup, keep its path away from <the hand-sized shampoo bottle>, and set the rounded base blue cup on <the flat surface gray wooden coaster>.",
+    "Move the cylindrical light blue cup onto the coaster with circular shape while avoiding the blue shampoo bottle slender design, then let go of the cylindrical light blue cup.",
+    "Slide the cup with light blue color over to <the coaster with circular shape> without passing near <the bottle light blue rounded shape>.",
+    "Take the blue rounded-bottom cup, route it away from the curved light blue shampoo bottle, and set the blue rounded-bottom cup onto the wooden coaster.",
+    "Using an arm, pick the cup with light blue color up, skirt the shampoo bottle with matte plastic, and place the cup with light blue color on the coaster made of smooth wood.",
+    "Use an arm, take the cylindrical light blue cup, avoid <the blue shampoo bottle slender design> on the way, and set on <the coaster with circular shape>.",
+    "Pick up the light blue plastic cup, keep clear of <the shampoo bottle with white cap>, and drop the light blue plastic cup onto <the grainy texture coaster>.",
+    "Move the rounded base blue cup to <the flat surface gray wooden coaster> while keeping its path away from <the curved light blue shampoo bottle>.",
+    "Use an arm to grab the cylindrical light blue cup, avoid the shampoo bottle flat bottom edge, and set the cylindrical light blue cup down on the grainy texture coaster.",
+    "Carry the smooth blue drinking cup toward <the flat surface gray wooden coaster>, keeping the path clear of <the blue shampoo bottle>, then set down.",
+    "Move the cup with smooth plastic surface onto the light gray streaked wooden coaster while avoiding the small smooth shampoo bottle, then let go of the cup with smooth plastic surface.",
+    "Grab the plastic cup for drinks, guide it away from the light blue shampoo bottle small size, and set the plastic cup for drinks neatly on the small coaster with grain texture.",
+    "With an arm, lift the rounded base blue cup, avoid <the shampoo bottle tapered toward cap> on the way, and drop the rounded base blue cup on <the wooden coaster>.",
+    "With an arm, lift the medium-sized plastic blue cup, route past <the bottle of shampoo>, and drop the medium-sized plastic blue cup onto <the round coaster>.",
+    "Take the medium blue cylindrical cup, swing wide of the blue shampoo bottle slender design, then rest the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Take the cup for holding liquids, keep its path away from the curved light blue shampoo bottle, and drop the cup for holding liquids on the grainy texture coaster.",
+    "Use an arm to move the medium blue cylindrical cup to the light gray round grainy coaster, keeping the medium blue cylindrical cup from bumping the shampoo bottle with white cap.",
+    "Use an arm, take the plastic cup for drinks past the curved light blue shampoo bottle without nearing it, and rest the plastic cup for drinks on the wooden coaster.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the bottle light blue rounded shape, and set the cup with smooth plastic surface onto the light gray streaked wooden coaster.",
+    "Lift the blue rounded-bottom cup, steer away from <the shampoo bottle flat bottom edge>, then place the blue rounded-bottom cup on <the light gray round grainy coaster>."
+  ],
+  "unseen": [
+    "Use an arm to grab the blue cup, steer around <the smooth bottle containing shampoo>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the oval light blue shampoo container>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the oval light blue shampoo container, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the smooth bottle containing shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the oval light blue shampoo container>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the oval light blue shampoo container, and place it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the oval light blue shampoo container, then set the blue cup down on the light gray coaster.",
+    "Grab the blue cup, guide it around <the smooth bottle containing shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, steer it around the oval light blue shampoo container, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the oval light blue shampoo container>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the oval light blue shampoo container, and set it on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo container white rounded top, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container white rounded top>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the oval light blue shampoo container>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container white rounded top>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the smooth bottle containing shampoo, and place the blue cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container white rounded top, then place the blue cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo container white rounded top>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the oval light blue shampoo container, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the smooth bottle containing shampoo, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the shampoo container white rounded top>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the oval light blue shampoo container, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the smooth bottle containing shampoo, and set it on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the smooth bottle containing shampoo, then place the blue cup onto the light gray coaster.",
+    "Grab the blue cup, route it around <the oval light blue shampoo container>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the oval light blue shampoo container>, and place the small smooth cup on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container white rounded top>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the oval light blue shampoo container, and place the blue cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the oval light blue shampoo container>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container white rounded top, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the smooth bottle containing shampoo, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo container white rounded top>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the shampoo container white rounded top, then set the small smooth cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container white rounded top>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the smooth bottle containing shampoo, and set it on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, route it around <the smooth bottle containing shampoo>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the oval light blue shampoo container>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the smooth bottle containing shampoo>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container white rounded top, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the oval light blue shampoo container, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the oval light blue shampoo container, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container white rounded top>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the oval light blue shampoo container, then set the blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo container white rounded top>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the oval light blue shampoo container, and set it on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container white rounded top, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the smooth bottle containing shampoo>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container white rounded top>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container white rounded top>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container white rounded top, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container white rounded top>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the smooth bottle containing shampoo, and place it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the shampoo container white rounded top, then set the small smooth cup down on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo container white rounded top>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the smooth bottle containing shampoo, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container white rounded top, and set it on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep clear of the smooth bottle containing shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around <the oval light blue shampoo container>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container white rounded top>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container white rounded top, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container white rounded top>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the oval light blue shampoo container, and place it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the oval light blue shampoo container, then set the blue cup down on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the smooth bottle containing shampoo>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the shampoo container white rounded top, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the oval light blue shampoo container>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the oval light blue shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container white rounded top, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the oval light blue shampoo container>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container white rounded top>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container white rounded top>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the smooth bottle containing shampoo, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode72.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode72.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6bf06a2d0d0cb410cd112a7a63056ea37a64d45
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode72.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the plastic cup for drinks onto <the wooden coaster> and ensure the path stays away from <the pink shampoo bottle>.",
+    "Use an arm to lift the blue rounded-bottom cup, arc around the rectangular pink bottle with dispenser, and place the blue rounded-bottom cup atop the round coaster with light streaks.",
+    "Carry the cylindrical light blue cup toward <the round coaster with light streaks>, keeping clear of <the hand-sized pink shampoo container>, and set the cylindrical light blue cup down.",
+    "Guide the cup for holding liquids with the arm around <the pink shampoo bottle> and onto <the flat round wooden coaster>.",
+    "Use the arm to carry the blue rounded-bottom cup around the shampoo bottle with shiny pink body, then rest the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "Move the medium blue cylindrical cup to <the round coaster> while keeping the medium blue cylindrical cup away from <the smooth pink plastic shampoo bottle>, then release.",
+    "Move the smooth blue drinking cup to the smooth round palm-sized coaster without crossing the pink bottle with black dispenser, then release the smooth blue drinking cup.",
+    "Use an arm to grab the smooth blue drinking cup, avoid the pink shampoo bottle, and set the smooth blue drinking cup down on the flat surface gray wooden coaster.",
+    "Lift the rounded base blue cup, arc around the shampoo bottle with rectangular shape, and place the rounded base blue cup squarely on the flat surface gray wooden coaster.",
+    "Use an arm, pick the medium blue cylindrical cup up, pass around the pink shampoo container with pump top, then place the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Grab the light blue plastic cup, guide it away from the plastic shampoo bottle with black pump, and set the light blue plastic cup neatly on the coaster with circular shape.",
+    "Use an arm: pick the rounded base blue cup up, skirt <the shampoo bottle with rectangular shape>, then place the rounded base blue cup onto <the light gray round grainy coaster>.",
+    "Use the arm to lift the cup with light blue color, pass the hand-sized pink shampoo container, and place the cup with light blue color on the smooth round palm-sized coaster.",
+    "Slide the cup with light blue color toward the wooden coaster, detouring around the pink bottle with narrow top, then set the cup with light blue color down.",
+    "Lift the cup with light blue color, guide it around <the shampoo bottle with rectangular shape>, then put the cup with light blue color onto <the light gray streaked wooden coaster>.",
+    "Pick the smooth blue cup for liquids up, route it away from the hand-sized pink shampoo container, and drop the smooth blue cup for liquids onto the wooden coaster.",
+    "With an arm, lift the cylindrical light blue cup, avoid the rectangular pink shampoo container, and set the cylindrical light blue cup onto the round coaster with light streaks.",
+    "Move the blue rounded-bottom cup to the flat round wooden coaster while avoiding the pink bottle with black dispenser, then place the blue rounded-bottom cup on the flat round wooden coaster.",
+    "Take the cylindrical light blue cup, route it away from the rectangular pink bottle with dispenser, and set the cylindrical light blue cup onto the flat round wooden coaster.",
+    "Take the medium-sized plastic blue cup to the flat surface gray wooden coaster while skirting the pink bottle with black dispenser, then release the medium-sized plastic blue cup on the flat surface gray wooden coaster.",
+    "Grab the medium blue cylindrical cup, route around the pink bottle with narrow top, then lower the medium blue cylindrical cup onto the coaster made of smooth wood.",
+    "Use an arm to move the cup for holding liquids toward the wooden coaster, keeping the cup for holding liquids clear of the smooth pink plastic shampoo bottle.",
+    "Pick up the cup for holding liquids, avoid the rectangular pink shampoo container along the way, and place the cup for holding liquids on the round coaster with light streaks.",
+    "Arm-lift the light blue plastic cup, swing around <the rectangular pink bottle with dispenser>, then place the light blue plastic cup onto <the wooden coaster>.",
+    "With an arm, lift the cup with smooth plastic surface, keep it away from the pink bottle with narrow top, and drop it onto the small coaster with grain texture.",
+    "With an arm, lift the plastic cup for drinks, avoid the pink shampoo bottle, and place the plastic cup for drinks on the grainy texture coaster.",
+    "Use an arm to take the smooth blue drinking cup around <the pink shampoo bottle> and place the smooth blue drinking cup on <the light gray round grainy coaster>.",
+    "Using an arm, pick the cup with light blue color up, skirt the smooth pink plastic shampoo bottle, and place the cup with light blue color on the round coaster.",
+    "Lift the smooth blue cup for liquids, pass by the rectangular pink shampoo container without contact, then place the smooth blue cup for liquids on the wooden coaster.",
+    "Use an arm to lift the cup with smooth plastic surface, keep distance from <the smooth pink plastic shampoo bottle>, and set the cup with smooth plastic surface on <the wooden coaster>.",
+    "Use the arm to move the light blue plastic cup past <the pink bottle with black dispenser> and rest it on <the wooden coaster>.",
+    "Secure the blue rounded-bottom cup, move it around the hand-sized pink shampoo container, and place the blue rounded-bottom cup squarely on the flat round wooden coaster.",
+    "Move the blue rounded-bottom cup to <the coaster made of smooth wood> while keeping its path away from <the pink bottle with narrow top>.",
+    "Use an arm to bring the blue rounded-bottom cup to the wooden coaster, keeping the blue rounded-bottom cup clear of the smooth pink plastic shampoo bottle.",
+    "Lift the medium-sized plastic blue cup, carry it around the pink shampoo container with pump top, and place the medium-sized plastic blue cup squarely on the smooth round palm-sized coaster.",
+    "Use an arm to move the smooth blue drinking cup to the smooth round palm-sized coaster, keeping the smooth blue drinking cup from bumping the rectangular pink shampoo container.",
+    "Using an arm, move the medium blue cylindrical cup to <the coaster with circular shape> while avoiding <the pink shampoo container with pump top>, then release the medium blue cylindrical cup.",
+    "Lift the cylindrical light blue cup, pass beside <the rectangular pink bottle with dispenser> without contact, then place the cylindrical light blue cup onto <the flat surface gray wooden coaster>.",
+    "Move the rounded base blue cup toward the wooden coaster without passing near the rectangular pink shampoo container, then set it down.",
+    "Use an arm, take the smooth blue drinking cup past the plastic shampoo bottle with black pump without nearing it, and rest the smooth blue drinking cup on the smooth round palm-sized coaster.",
+    "With an arm, move the smooth blue cup for liquids past the pink shampoo container with pump top and place the smooth blue cup for liquids on the light gray streaked wooden coaster.",
+    "Lift the cylindrical light blue cup, steer away from <the pink shampoo container with pump top>, then place the cylindrical light blue cup on <the wooden coaster>.",
+    "Pick up the blue rounded-bottom cup, guide it past the shampoo bottle with rectangular shape, and drop the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "Use an arm: grasp the cup with light blue color, avoid <the hand-sized pink shampoo container>, and place the cup with light blue color on <the grainy texture coaster>.",
+    "Using an arm, grasp the light blue plastic cup, skirt the shampoo bottle with rectangular shape, and place the light blue plastic cup atop the coaster with circular shape.",
+    "Use an arm, keep the cup with light blue color from the pink bottle with narrow top, and lower the cup with light blue color onto the flat round wooden coaster.",
+    "Secure the cylindrical light blue cup, keep its path away from the rectangular pink shampoo container, and set the cylindrical light blue cup on the flat round wooden coaster.",
+    "With an arm, pick the blue rounded-bottom cup up, bypass <the medium pink bottle for shampoo>, then place the blue rounded-bottom cup on <the light gray streaked wooden coaster>.",
+    "Grab the medium blue cylindrical cup, swing it away from <the pink bottle with black dispenser>, and place the medium blue cylindrical cup on <the smooth round palm-sized coaster>.",
+    "Pick up the light blue plastic cup, keep clear of <the pink shampoo container with pump top>, and drop the light blue plastic cup onto <the round coaster with light streaks>.",
+    "Take the cup with light blue color, keep its path away from the pink bottle with black dispenser, and place the cup with light blue color on the light gray round grainy coaster.",
+    "Lift the cup for holding liquids, route it away from the pink shampoo bottle, then put the cup for holding liquids squarely on the coaster with circular shape.",
+    "Move the blue rounded-bottom cup onto the round coaster with light streaks while avoiding the pink bottle with narrow top, then let go of the blue rounded-bottom cup.",
+    "Take the cup with light blue color, guide it away from <the medium pink bottle for shampoo>, and place the cup with light blue color squarely on <the grainy texture coaster>.",
+    "With an arm, lift the medium-sized plastic blue cup, guide it past the rectangular pink shampoo container, and put the medium-sized plastic blue cup on the wooden coaster.",
+    "Pick up the cylindrical light blue cup, keep its path away from <the rectangular pink shampoo container>, and set the cylindrical light blue cup on <the light gray round grainy coaster>.",
+    "With an arm, lift the cup with light blue color, avoid <the rectangular pink bottle with dispenser> on the way, and drop the cup with light blue color on <the light gray streaked wooden coaster>.",
+    "Using an arm, carry the plastic cup for drinks around the medium pink bottle for shampoo and place the plastic cup for drinks onto the coaster with circular shape.",
+    "Take the smooth blue drinking cup, arc around <the rectangular pink shampoo container>, and place the smooth blue drinking cup neatly on <the wooden coaster>.",
+    "Carry the blue rounded-bottom cup toward the flat surface gray wooden coaster, keeping the blue rounded-bottom cup away from the shampoo bottle with rectangular shape, then set down.",
+    "Carry the light blue plastic cup toward <the round coaster>, keeping the path clear of <the smooth pink plastic shampoo bottle>, then set down.",
+    "Use an arm, take the medium-sized plastic blue cup, avoid <the shampoo bottle with rectangular shape> on the way, and set on <the smooth round palm-sized coaster>.",
+    "Lift the smooth blue cup for liquids, guide it past the pink shampoo container with pump top, and rest the smooth blue cup for liquids on the wooden coaster.",
+    "Move the medium blue cylindrical cup onto the coaster with circular shape while avoiding the hand-sized pink shampoo container, then let go of the medium blue cylindrical cup.",
+    "Take the plastic cup for drinks, swing wide of the pink shampoo bottle, then rest the plastic cup for drinks on the coaster made of smooth wood.",
+    "With an arm, lift the blue rounded-bottom cup, route past <the pink bottle with black dispenser>, and drop the blue rounded-bottom cup onto <the coaster made of smooth wood>.",
+    "Using an arm, carry the cup with light blue color past <the pink shampoo container with pump top> and place the cup with light blue color squarely on <the light gray streaked wooden coaster>.",
+    "With an arm, take the medium-sized plastic blue cup, avoid the rectangular pink bottle with dispenser, and put the medium-sized plastic blue cup on the coaster with circular shape.",
+    "Lift the smooth blue drinking cup, keep clear of the pink shampoo bottle, and put the smooth blue drinking cup down on the flat round wooden coaster.",
+    "Slide the cup with light blue color over to <the small coaster with grain texture> without passing near <the smooth pink plastic shampoo bottle>.",
+    "Using an arm, pick the cup for holding liquids up, skirt the smooth pink plastic shampoo bottle, and place the cup for holding liquids on the coaster made of smooth wood.",
+    "With an arm, bring the plastic cup for drinks over to <the light gray streaked wooden coaster> and keep clear of <the shampoo bottle with rectangular shape>.",
+    "Take the cylindrical light blue cup in the arm, route around <the smooth pink plastic shampoo bottle>, and set it on <the flat surface gray wooden coaster>.",
+    "Use an arm: grab the medium-sized plastic blue cup, avoid the pink bottle with narrow top on the way, then set the medium-sized plastic blue cup on the light gray streaked wooden coaster.",
+    "Lift the cup with smooth plastic surface, go around the pink shampoo container with pump top, and position the cup with smooth plastic surface squarely on the round coaster.",
+    "Use an arm: take the blue rounded-bottom cup, avoid the rectangular pink bottle with dispenser during the move, and drop it on the flat surface gray wooden coaster.",
+    "Take the light blue plastic cup, keep its path away from the shampoo bottle with rectangular shape, and drop the light blue plastic cup on the small coaster with grain texture.",
+    "Pick up the medium blue cylindrical cup, route it away from the rectangular pink bottle with dispenser, then set the medium blue cylindrical cup on the coaster made of smooth wood.",
+    "Use an arm to move the smooth blue drinking cup around the pink bottle with black dispenser and rest the smooth blue drinking cup on the flat surface gray wooden coaster.",
+    "Carry the blue rounded-bottom cup toward <the grainy texture coaster>, skirting <the rectangular pink bottle with dispenser>, and set the blue rounded-bottom cup down.",
+    "Move the rounded base blue cup onto <the light gray streaked wooden coaster> and ensure the path stays away from <the hand-sized pink shampoo container>.",
+    "Use an arm to lift the blue rounded-bottom cup, arc around the hand-sized pink shampoo container, and place the blue rounded-bottom cup atop the round coaster with light streaks.",
+    "Carry the medium blue cylindrical cup toward <the round coaster>, keeping clear of <the pink bottle with black dispenser>, and set the medium blue cylindrical cup down.",
+    "Guide the rounded base blue cup with the arm around <the plastic shampoo bottle with black pump> and onto <the light gray round grainy coaster>.",
+    "Use the arm to carry the rounded base blue cup around the hand-sized pink shampoo container, then rest the rounded base blue cup on the flat round wooden coaster.",
+    "Move the smooth blue drinking cup to <the light gray streaked wooden coaster> while keeping the smooth blue drinking cup away from <the rectangular pink bottle with dispenser>, then release.",
+    "Move the rounded base blue cup to the small coaster with grain texture without crossing the medium pink bottle for shampoo, then release the rounded base blue cup.",
+    "Use an arm to grab the smooth blue drinking cup, avoid the rectangular pink bottle with dispenser, and set the smooth blue drinking cup down on the grainy texture coaster.",
+    "Lift the cup for holding liquids, arc around the pink shampoo bottle, and place the cup for holding liquids squarely on the round coaster.",
+    "Use an arm, pick the light blue plastic cup up, pass around the rectangular pink shampoo container, then place the light blue plastic cup on the grainy texture coaster.",
+    "Grab the plastic cup for drinks, guide it away from the shampoo bottle with shiny pink body, and set the plastic cup for drinks neatly on the flat surface gray wooden coaster.",
+    "Use an arm: pick the smooth blue drinking cup up, skirt <the medium pink bottle for shampoo>, then place the smooth blue drinking cup onto <the small coaster with grain texture>.",
+    "Use the arm to lift the cylindrical light blue cup, pass the pink bottle with black dispenser, and place the cylindrical light blue cup on the round coaster with light streaks.",
+    "Slide the smooth blue drinking cup toward the flat surface gray wooden coaster, detouring around the shampoo bottle with rectangular shape, then set the smooth blue drinking cup down.",
+    "Lift the cup for holding liquids, guide it around <the pink shampoo container with pump top>, then put the cup for holding liquids onto <the light gray streaked wooden coaster>.",
+    "Pick the cup with smooth plastic surface up, route it away from the smooth pink plastic shampoo bottle, and drop the cup with smooth plastic surface onto the coaster with circular shape.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid the pink bottle with black dispenser, and set the medium-sized plastic blue cup onto the small coaster with grain texture.",
+    "Move the cup for holding liquids to the small coaster with grain texture while avoiding the pink bottle with narrow top, then place the cup for holding liquids on the small coaster with grain texture.",
+    "Take the cup with smooth plastic surface, route it away from the shampoo bottle with shiny pink body, and set the cup with smooth plastic surface onto the smooth round palm-sized coaster.",
+    "Take the cup with light blue color to the flat surface gray wooden coaster while skirting the pink bottle with narrow top, then release the cup with light blue color on the flat surface gray wooden coaster."
+  ],
+  "unseen": [
+    "With an arm, lift the blue cup, avoid <the plastic pink shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the plastic pink shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with black pump, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with black pump, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the glossy pink shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the plastic pink shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the glossy pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with black pump, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with black pump, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the glossy pink shampoo bottle, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the glossy pink shampoo bottle>, and place it on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the glossy pink shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the glossy pink shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the shampoo bottle with black pump, then set the blue cup down on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the glossy pink shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with black pump>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the glossy pink shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with black pump, and set the blue cup on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with black pump>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the plastic pink shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with black pump, and place it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle with black pump, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with black pump>, and place it on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the plastic pink shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with black pump>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the glossy pink shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the glossy pink shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with black pump>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the glossy pink shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with black pump, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with black pump, then place the blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the glossy pink shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with black pump, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the glossy pink shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with black pump, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the glossy pink shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the glossy pink shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the plastic pink shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with black pump>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the shampoo bottle with black pump, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the plastic pink shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, route it around <the glossy pink shampoo bottle>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the plastic pink shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the glossy pink shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with black pump, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with black pump>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with black pump, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the glossy pink shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with black pump, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the glossy pink shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the glossy pink shampoo bottle>, and place it on <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the glossy pink shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with black pump>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the glossy pink shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the plastic pink shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the shampoo bottle with black pump>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the glossy pink shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the plastic pink shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the glossy pink shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the glossy pink shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with black pump>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the glossy pink shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with black pump, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with black pump, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the plastic pink shampoo bottle, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with black pump>, and place it on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with black pump>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with black pump>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with black pump, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the glossy pink shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the glossy pink shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the glossy pink shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the plastic pink shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep clear of the glossy pink shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the glossy pink shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with black pump>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle with black pump, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the glossy pink shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the glossy pink shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with black pump, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle with black pump>, and place it on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the glossy pink shampoo bottle>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the plastic pink shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the plastic pink shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the plastic pink shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the glossy pink shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with black pump, and place the handheld round blue cup on the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode73.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode73.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a1bf6c6e7d0eb7663b282f10129020e5962a683
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode73.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the cup for holding liquids onto the light gray streaked wooden coaster while avoiding the shampoo bottle with handle slot, then let go of the cup for holding liquids.",
+    "Slide the plastic cup for drinks over to <the grainy texture coaster> without passing near <the hand-sized yellow shampoo bottle>.",
+    "Take the rounded base blue cup to the coaster made of smooth wood while skirting the yellow bottle with green top, then release the rounded base blue cup on the coaster made of smooth wood.",
+    "Use the arm to move the plastic cup for drinks past <the smooth bottle with green top> and rest it on <the smooth round palm-sized coaster>.",
+    "Guide the blue rounded-bottom cup with the arm around <the shampoo bottle with rounded body> and onto <the flat surface gray wooden coaster>.",
+    "Use an arm to take the cup with smooth plastic surface around <the bottle with cartoon label> and place the cup with smooth plastic surface on <the light gray round grainy coaster>.",
+    "Lift the cylindrical light blue cup, pass beside <the yellow shampoo with cartoon design> without contact, then place the cylindrical light blue cup onto <the light gray streaked wooden coaster>.",
+    "Use an arm: grasp the light blue plastic cup, avoid <the yellow shampoo bottle>, and place the light blue plastic cup on <the light gray streaked wooden coaster>.",
+    "Secure the cup with light blue color, keep its path away from the shampoo with green dispensing pump, and set the cup with light blue color on the flat round wooden coaster.",
+    "Use an arm to move the cup with light blue color toward the grainy texture coaster, keeping the cup with light blue color clear of the shampoo bottle with handle slot.",
+    "Use an arm to lift the plastic cup for drinks, arc around the bottle with cartoon label, and place the plastic cup for drinks atop the coaster made of smooth wood.",
+    "Use an arm, take the rounded base blue cup, avoid <the hand-sized yellow shampoo bottle> on the way, and set on <the round coaster with light streaks>.",
+    "With an arm, lift the plastic cup for drinks, route past <the yellow shampoo with cartoon design>, and drop the plastic cup for drinks onto <the coaster made of smooth wood>.",
+    "With an arm, lift the plastic cup for drinks, avoid <the medium shampoo bottle with pump> on the way, and drop the plastic cup for drinks on <the light gray round grainy coaster>.",
+    "Use an arm to move the blue rounded-bottom cup to the coaster with circular shape, keeping the blue rounded-bottom cup from bumping the yellow container with green pump.",
+    "Take the smooth blue cup for liquids, swing wide of the shampoo bottle with handle slot, then rest the smooth blue cup for liquids on the round coaster.",
+    "Use an arm, take the smooth blue drinking cup past the smooth bottle with green top without nearing it, and rest the smooth blue drinking cup on the flat surface gray wooden coaster.",
+    "Lift the medium blue cylindrical cup, go around the medium shampoo bottle with pump, and position the medium blue cylindrical cup squarely on the flat round wooden coaster.",
+    "Lift the cup with light blue color, arc around the shampoo with green dispensing pump, and place the cup with light blue color squarely on the light gray streaked wooden coaster.",
+    "Pick up the light blue plastic cup, route it away from the yellow shampoo with cartoon design, then set the light blue plastic cup on the coaster with circular shape.",
+    "Using an arm, carry the cup with light blue color past <the smooth bottle with green top> and place the cup with light blue color squarely on <the coaster with circular shape>.",
+    "Use an arm: grab the cup for holding liquids, avoid the plastic shampoo bottle with label on the way, then set the cup for holding liquids on the coaster made of smooth wood.",
+    "Lift the light blue plastic cup, pass by the shampoo bottle with handle slot without contact, then place the light blue plastic cup on the coaster with circular shape.",
+    "Use an arm, keep the cup for holding liquids from the shampoo bottle with handle slot, and lower the cup for holding liquids onto the flat round wooden coaster.",
+    "Use an arm to lift the plastic cup for drinks, keep distance from <the shampoo bottle with rounded body>, and set the plastic cup for drinks on <the flat round wooden coaster>.",
+    "Move the cylindrical light blue cup onto the light gray round grainy coaster while avoiding the shampoo with green dispensing pump, then let go of the cylindrical light blue cup.",
+    "Pick the rounded base blue cup up, route it away from the yellow bottle with green top, and drop the rounded base blue cup onto the small coaster with grain texture.",
+    "Carry the medium-sized plastic blue cup toward <the coaster made of smooth wood>, keeping the path clear of <the hand-sized yellow shampoo bottle>, then set down.",
+    "Lift the smooth blue cup for liquids, steer away from <the shampoo bottle with rounded body>, then place the smooth blue cup for liquids on <the smooth round palm-sized coaster>.",
+    "With an arm, move the blue rounded-bottom cup past the shampoo with green dispensing pump and place the blue rounded-bottom cup on the smooth round palm-sized coaster.",
+    "Lift the medium-sized plastic blue cup, guide it past the shampoo bottle with handle slot, and rest the medium-sized plastic blue cup on the flat surface gray wooden coaster.",
+    "Secure the light blue plastic cup, move it around the medium shampoo bottle with pump, and place the light blue plastic cup squarely on the smooth round palm-sized coaster.",
+    "Take the plastic cup for drinks, keep its path away from the hand-sized yellow shampoo bottle, and drop the plastic cup for drinks on the grainy texture coaster.",
+    "Use the arm to lift the cylindrical light blue cup, pass the yellow bottle with green top, and place the cylindrical light blue cup on the flat surface gray wooden coaster.",
+    "Use an arm: take the cup with light blue color, avoid the shampoo with green dispensing pump during the move, and drop it on the grainy texture coaster.",
+    "Using an arm, move the light blue plastic cup to <the smooth round palm-sized coaster> while avoiding <the shampoo with green dispensing pump>, then release the light blue plastic cup.",
+    "Carry the smooth blue drinking cup toward the coaster made of smooth wood, keeping the smooth blue drinking cup away from the shampoo bottle with rounded body, then set down.",
+    "Use an arm, pick the smooth blue drinking cup up, pass around the bottle with cartoon label, then place the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "Take the cylindrical light blue cup, guide it away from <the plastic shampoo bottle with label>, and place the cylindrical light blue cup squarely on <the light gray streaked wooden coaster>.",
+    "Pick up the rounded base blue cup, keep clear of <the yellow shampoo with cartoon design>, and drop the rounded base blue cup onto <the smooth round palm-sized coaster>.",
+    "Take the cup with light blue color in the arm, route around <the yellow bottle with green top>, and set it on <the coaster with circular shape>.",
+    "Grab the light blue plastic cup, guide it away from the plastic shampoo bottle with label, and set the light blue plastic cup neatly on the coaster with circular shape.",
+    "Grab the plastic cup for drinks, swing it away from <the shampoo bottle with handle slot>, and place the plastic cup for drinks on <the coaster with circular shape>.",
+    "Pick up the cup with light blue color, keep its path away from <the plastic shampoo bottle with label>, and set the cup with light blue color on <the flat round wooden coaster>.",
+    "Using an arm, pick the cup with smooth plastic surface up, skirt the shampoo bottle with handle slot, and place the cup with smooth plastic surface on the coaster with circular shape.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid the bottle with cartoon label, and place the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Using an arm, grasp the medium blue cylindrical cup, skirt the hand-sized yellow shampoo bottle, and place the medium blue cylindrical cup atop the round coaster with light streaks.",
+    "Move the smooth blue drinking cup to <the small coaster with grain texture> while keeping its path away from <the yellow shampoo bottle>.",
+    "With an arm, lift the plastic cup for drinks, avoid the yellow container with green pump, and set the plastic cup for drinks onto the coaster with circular shape.",
+    "Pick up the cup for holding liquids, guide it past the yellow container with green pump, and drop the cup for holding liquids on the flat round wooden coaster.",
+    "Move the medium blue cylindrical cup to the flat round wooden coaster without crossing the yellow bottle with green top, then release the medium blue cylindrical cup.",
+    "Lift the plastic cup for drinks, keep clear of the yellow container with green pump, and put the plastic cup for drinks down on the flat surface gray wooden coaster.",
+    "Lift the smooth blue cup for liquids, carry it around the smooth bottle with green top, and place the smooth blue cup for liquids squarely on the coaster made of smooth wood.",
+    "With an arm, lift the cup with light blue color, keep it away from the bottle with cartoon label, and drop it onto the light gray round grainy coaster.",
+    "Lift the cup with light blue color, route it away from the yellow container with green pump, then put the cup with light blue color squarely on the round coaster with light streaks.",
+    "Using an arm, carry the light blue plastic cup around the shampoo bottle with rounded body and place the light blue plastic cup onto the flat round wooden coaster.",
+    "Grab the medium-sized plastic blue cup, route around the bottle with cartoon label, then lower the medium-sized plastic blue cup onto the round coaster with light streaks.",
+    "With an arm, take the cup with light blue color, avoid the yellow container with green pump, and put the cup with light blue color on the coaster with circular shape.",
+    "Use the arm to carry the light blue plastic cup around the shampoo with green dispensing pump, then rest the light blue plastic cup on the round coaster.",
+    "Use an arm to bring the smooth blue drinking cup to the grainy texture coaster, keeping the smooth blue drinking cup clear of the yellow shampoo bottle.",
+    "Move the plastic cup for drinks to the flat round wooden coaster while avoiding the yellow shampoo bottle, then place the plastic cup for drinks on the flat round wooden coaster.",
+    "Use an arm to move the medium-sized plastic blue cup around the plastic shampoo bottle with label and rest the medium-sized plastic blue cup on the flat round wooden coaster.",
+    "Take the light blue plastic cup, arc around <the yellow shampoo bottle>, and place the light blue plastic cup neatly on <the light gray round grainy coaster>.",
+    "Carry the medium blue cylindrical cup toward <the wooden coaster>, skirting <the plastic shampoo bottle with label>, and set the medium blue cylindrical cup down.",
+    "Carry the blue rounded-bottom cup toward <the wooden coaster>, keeping clear of <the shampoo with green dispensing pump>, and set the blue rounded-bottom cup down.",
+    "Lift the smooth blue cup for liquids, guide it around <the shampoo bottle with rounded body>, then put the smooth blue cup for liquids onto <the small coaster with grain texture>.",
+    "Take the blue rounded-bottom cup, keep its path away from the medium shampoo bottle with pump, and place the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "With an arm, bring the medium blue cylindrical cup over to <the coaster made of smooth wood> and keep clear of <the hand-sized yellow shampoo bottle>.",
+    "Arm-lift the rounded base blue cup, swing around <the hand-sized yellow shampoo bottle>, then place the rounded base blue cup onto <the round coaster with light streaks>.",
+    "Use an arm: pick the smooth blue drinking cup up, skirt <the yellow container with green pump>, then place the smooth blue drinking cup onto <the coaster made of smooth wood>.",
+    "Take the medium-sized plastic blue cup, route it away from the shampoo bottle with rounded body, and set the medium-sized plastic blue cup onto the flat surface gray wooden coaster.",
+    "Slide the medium-sized plastic blue cup toward the small coaster with grain texture, detouring around the shampoo bottle with handle slot, then set the medium-sized plastic blue cup down.",
+    "Use an arm to grab the light blue plastic cup, avoid the yellow container with green pump, and set the light blue plastic cup down on the coaster made of smooth wood.",
+    "Pick up the cup for holding liquids, avoid the shampoo with green dispensing pump along the way, and place the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Move the rounded base blue cup onto <the coaster made of smooth wood> and ensure the path stays away from <the shampoo bottle with handle slot>.",
+    "With an arm, lift the plastic cup for drinks, guide it past the plastic shampoo bottle with label, and put the plastic cup for drinks on the light gray round grainy coaster.",
+    "Move the smooth blue cup for liquids to <the round coaster with light streaks> while keeping the smooth blue cup for liquids away from <the shampoo bottle with rounded body>, then release.",
+    "Move the cup with light blue color toward the flat round wooden coaster without passing near the hand-sized yellow shampoo bottle, then set it down.",
+    "Using an arm, pick the smooth blue drinking cup up, skirt the yellow container with green pump, and place the smooth blue drinking cup on the grainy texture coaster.",
+    "With an arm, pick the cup for holding liquids up, bypass <the shampoo with green dispensing pump>, then place the cup for holding liquids on <the wooden coaster>.",
+    "Move the medium blue cylindrical cup onto the light gray round grainy coaster while avoiding the yellow bottle with green top, then let go of the medium blue cylindrical cup.",
+    "Slide the smooth blue drinking cup over to <the coaster made of smooth wood> without passing near <the shampoo bottle with handle slot>.",
+    "Take the plastic cup for drinks to the round coaster while skirting the medium shampoo bottle with pump, then release the plastic cup for drinks on the round coaster.",
+    "Use the arm to move the light blue plastic cup past <the smooth bottle with green top> and rest it on <the smooth round palm-sized coaster>.",
+    "Guide the smooth blue drinking cup with the arm around <the shampoo bottle with handle slot> and onto <the smooth round palm-sized coaster>.",
+    "Use an arm to take the rounded base blue cup around <the medium shampoo bottle with pump> and place the rounded base blue cup on <the flat round wooden coaster>.",
+    "Lift the cup for holding liquids, pass beside <the plastic shampoo bottle with label> without contact, then place the cup for holding liquids onto <the flat surface gray wooden coaster>.",
+    "Use an arm: grasp the smooth blue cup for liquids, avoid <the yellow container with green pump>, and place the smooth blue cup for liquids on <the grainy texture coaster>.",
+    "Secure the medium blue cylindrical cup, keep its path away from the medium shampoo bottle with pump, and set the medium blue cylindrical cup on the flat surface gray wooden coaster.",
+    "Use an arm to move the smooth blue cup for liquids toward the coaster with circular shape, keeping the smooth blue cup for liquids clear of the yellow container with green pump.",
+    "Use an arm to lift the cup with light blue color, arc around the medium shampoo bottle with pump, and place the cup with light blue color atop the coaster with circular shape.",
+    "Use an arm, take the cup with light blue color, avoid <the shampoo bottle with handle slot> on the way, and set on <the flat surface gray wooden coaster>.",
+    "With an arm, lift the medium blue cylindrical cup, route past <the hand-sized yellow shampoo bottle>, and drop the medium blue cylindrical cup onto <the flat round wooden coaster>.",
+    "With an arm, lift the cup with light blue color, avoid <the yellow shampoo bottle> on the way, and drop the cup with light blue color on <the flat round wooden coaster>.",
+    "Use an arm to move the cylindrical light blue cup to the smooth round palm-sized coaster, keeping the cylindrical light blue cup from bumping the yellow shampoo with cartoon design.",
+    "Take the plastic cup for drinks, swing wide of the yellow container with green pump, then rest the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Use an arm, take the cup with light blue color past the yellow shampoo with cartoon design without nearing it, and rest the cup with light blue color on the wooden coaster.",
+    "Lift the medium blue cylindrical cup, go around the smooth bottle with green top, and position the medium blue cylindrical cup squarely on the wooden coaster.",
+    "Lift the blue rounded-bottom cup, arc around the shampoo bottle with handle slot, and place the blue rounded-bottom cup squarely on the grainy texture coaster.",
+    "Pick up the medium-sized plastic blue cup, route it away from the bottle with cartoon label, then set the medium-sized plastic blue cup on the smooth round palm-sized coaster."
+  ],
+  "unseen": [
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the yellow bottle with rounded edges>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the smooth plastic shampoo container, then set the blue cup down on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the yellow shampoo with pump dispenser>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the yellow shampoo with pump dispenser, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the yellow bottle with rounded edges, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth plastic shampoo container>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the yellow bottle with rounded edges, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the yellow shampoo with pump dispenser, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth plastic shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the yellow bottle with rounded edges, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the yellow shampoo with pump dispenser>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the yellow bottle with rounded edges, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the yellow shampoo with pump dispenser>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the yellow bottle with rounded edges, and set it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth plastic shampoo container, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the yellow bottle with rounded edges>, then place the small smooth cup onto <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the yellow bottle with rounded edges>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the smooth plastic shampoo container, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the yellow shampoo with pump dispenser>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the smooth plastic shampoo container, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the yellow bottle with rounded edges, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the yellow bottle with rounded edges>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the yellow bottle with rounded edges, and place it on the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the smooth plastic shampoo container, and place the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the smooth plastic shampoo container>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the smooth plastic shampoo container, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the smooth plastic shampoo container>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the smooth plastic shampoo container, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the yellow shampoo with pump dispenser, and set the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the yellow bottle with rounded edges>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the yellow bottle with rounded edges>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the yellow shampoo with pump dispenser, then set the blue cup down on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the yellow shampoo with pump dispenser>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the yellow bottle with rounded edges, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the yellow shampoo with pump dispenser>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the smooth plastic shampoo container, and place it on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the yellow bottle with rounded edges, and place the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the yellow bottle with rounded edges, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the yellow shampoo with pump dispenser>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the yellow bottle with rounded edges, then set the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the yellow shampoo with pump dispenser>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the yellow bottle with rounded edges, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the yellow shampoo with pump dispenser, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the yellow shampoo with pump dispenser>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the yellow bottle with rounded edges>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the yellow bottle with rounded edges, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the yellow bottle with rounded edges>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the yellow shampoo with pump dispenser, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set the handheld round blue cup on the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the yellow bottle with rounded edges>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the smooth plastic shampoo container, and place it on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the yellow shampoo with pump dispenser, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the smooth plastic shampoo container, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the yellow bottle with rounded edges, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the smooth plastic shampoo container>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the yellow bottle with rounded edges, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the yellow bottle with rounded edges>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the smooth plastic shampoo container, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow bottle with rounded edges, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the yellow bottle with rounded edges>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the yellow bottle with rounded edges>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the smooth plastic shampoo container, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the smooth plastic shampoo container>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the yellow bottle with rounded edges, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth plastic shampoo container, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the yellow bottle with rounded edges>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the yellow bottle with rounded edges, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the smooth plastic shampoo container, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the smooth plastic shampoo container, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the smooth plastic shampoo container, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the yellow shampoo with pump dispenser>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the yellow bottle with rounded edges, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the smooth plastic shampoo container>, and place the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the yellow shampoo with pump dispenser, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the yellow bottle with rounded edges, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the smooth plastic shampoo container>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the smooth plastic shampoo container>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the yellow shampoo with pump dispenser, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the smooth plastic shampoo container>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the yellow bottle with rounded edges, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the yellow shampoo with pump dispenser, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the yellow bottle with rounded edges>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the smooth plastic shampoo container, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the smooth plastic shampoo container, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the yellow bottle with rounded edges, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the yellow bottle with rounded edges, then place the blue cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the yellow shampoo with pump dispenser>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the smooth plastic shampoo container, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the smooth plastic shampoo container>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the smooth plastic shampoo container, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth plastic shampoo container, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the yellow bottle with rounded edges>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the yellow bottle with rounded edges>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the yellow shampoo with pump dispenser, then set the blue cup down on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the yellow bottle with rounded edges>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the smooth plastic shampoo container, then place the blue cup onto the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode74.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode74.json
new file mode 100644
index 0000000000000000000000000000000000000000..070529e5d2296dd6b815bdb88252d0422c9d44ef
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode74.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm to take the cup for holding liquids around <the smooth bottle with green top> and place the cup for holding liquids on <the light gray streaked wooden coaster>.",
+    "With an arm, pick the light blue plastic cup up, bypass <the yellow bottle with green top>, then place the light blue plastic cup on <the coaster made of smooth wood>.",
+    "Pick up the plastic cup for drinks, route it away from the shampoo bottle with rounded body, then set the plastic cup for drinks on the smooth round palm-sized coaster.",
+    "Use an arm to bring the smooth blue drinking cup to the grainy texture coaster, keeping the smooth blue drinking cup clear of the shampoo bottle with handle slot.",
+    "Use an arm to move the cup for holding liquids around the yellow container with green pump and rest the cup for holding liquids on the wooden coaster.",
+    "Move the cylindrical light blue cup to the flat surface gray wooden coaster while avoiding the smooth bottle with green top, then place the cylindrical light blue cup on the flat surface gray wooden coaster.",
+    "Move the smooth blue drinking cup to <the wooden coaster> while keeping its path away from <the shampoo bottle with rounded body>.",
+    "Slide the light blue plastic cup toward the coaster with circular shape, detouring around the bottle with cartoon label, then set the light blue plastic cup down.",
+    "Use an arm, take the cup with smooth plastic surface, avoid <the shampoo with green dispensing pump> on the way, and set on <the smooth round palm-sized coaster>.",
+    "Slide the rounded base blue cup over to <the grainy texture coaster> without passing near <the yellow container with green pump>.",
+    "With an arm, lift the blue rounded-bottom cup, guide it past the yellow shampoo with cartoon design, and put the blue rounded-bottom cup on the grainy texture coaster.",
+    "With an arm, bring the cup with light blue color over to <the smooth round palm-sized coaster> and keep clear of <the smooth bottle with green top>.",
+    "Pick the medium blue cylindrical cup up, route it away from the shampoo with green dispensing pump, and drop the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Lift the medium blue cylindrical cup, pass beside <the yellow shampoo with cartoon design> without contact, then place the medium blue cylindrical cup onto <the round coaster with light streaks>.",
+    "Carry the rounded base blue cup toward the round coaster, keeping the rounded base blue cup away from the medium shampoo bottle with pump, then set down.",
+    "Using an arm, grasp the blue rounded-bottom cup, skirt the yellow shampoo with cartoon design, and place the blue rounded-bottom cup atop the light gray round grainy coaster.",
+    "Using an arm, carry the light blue plastic cup around the yellow container with green pump and place the light blue plastic cup onto the light gray streaked wooden coaster.",
+    "Carry the medium-sized plastic blue cup toward <the light gray round grainy coaster>, keeping clear of <the hand-sized yellow shampoo bottle>, and set the medium-sized plastic blue cup down.",
+    "Take the smooth blue cup for liquids, keep its path away from the yellow shampoo with cartoon design, and place the smooth blue cup for liquids on the wooden coaster.",
+    "With an arm, lift the cup with light blue color, keep it away from the shampoo bottle with rounded body, and drop it onto the smooth round palm-sized coaster.",
+    "Use an arm to move the blue rounded-bottom cup toward the wooden coaster, keeping the blue rounded-bottom cup clear of the hand-sized yellow shampoo bottle.",
+    "Use an arm, pick the cylindrical light blue cup up, pass around the yellow shampoo with cartoon design, then place the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Take the cup with light blue color in the arm, route around <the shampoo with green dispensing pump>, and set it on <the coaster made of smooth wood>.",
+    "Pick up the cylindrical light blue cup, keep its path away from <the hand-sized yellow shampoo bottle>, and set the cylindrical light blue cup on <the light gray round grainy coaster>.",
+    "Lift the smooth blue drinking cup, arc around the bottle with cartoon label, and place the smooth blue drinking cup squarely on the round coaster.",
+    "Use an arm to lift the rounded base blue cup, arc around the yellow shampoo bottle, and place the rounded base blue cup atop the coaster made of smooth wood.",
+    "Use an arm, keep the light blue plastic cup from the medium shampoo bottle with pump, and lower the light blue plastic cup onto the flat round wooden coaster.",
+    "Pick up the smooth blue cup for liquids, keep clear of <the bottle with cartoon label>, and drop the smooth blue cup for liquids onto <the round coaster with light streaks>.",
+    "Take the rounded base blue cup, arc around <the yellow shampoo bottle>, and place the rounded base blue cup neatly on <the round coaster>.",
+    "Using an arm, move the cup with light blue color to <the flat surface gray wooden coaster> while avoiding <the smooth bottle with green top>, then release the cup with light blue color.",
+    "Lift the cup with smooth plastic surface, steer away from <the medium shampoo bottle with pump>, then place the cup with smooth plastic surface on <the round coaster>.",
+    "Use an arm to move the smooth blue cup for liquids to the small coaster with grain texture, keeping the smooth blue cup for liquids from bumping the smooth bottle with green top.",
+    "Grab the smooth blue drinking cup, guide it away from the medium shampoo bottle with pump, and set the smooth blue drinking cup neatly on the light gray round grainy coaster.",
+    "Move the medium blue cylindrical cup onto the light gray round grainy coaster while avoiding the plastic shampoo bottle with label, then let go of the medium blue cylindrical cup.",
+    "Secure the light blue plastic cup, move it around the yellow shampoo bottle, and place the light blue plastic cup squarely on the light gray round grainy coaster.",
+    "With an arm, lift the medium blue cylindrical cup, avoid the yellow shampoo bottle, and set the medium blue cylindrical cup onto the coaster with circular shape.",
+    "Pick up the light blue plastic cup, avoid the shampoo bottle with rounded body along the way, and place the light blue plastic cup on the coaster with circular shape.",
+    "Move the medium-sized plastic blue cup onto the smooth round palm-sized coaster while avoiding the shampoo bottle with handle slot, then let go of the medium-sized plastic blue cup.",
+    "Use the arm to lift the blue rounded-bottom cup, pass the shampoo with green dispensing pump, and place the blue rounded-bottom cup on the coaster with circular shape.",
+    "Grab the rounded base blue cup, swing it away from <the plastic shampoo bottle with label>, and place the rounded base blue cup on <the coaster made of smooth wood>.",
+    "With an arm, lift the plastic cup for drinks, route past <the yellow bottle with green top>, and drop the plastic cup for drinks onto <the round coaster>.",
+    "Lift the cylindrical light blue cup, carry it around the yellow bottle with green top, and place the cylindrical light blue cup squarely on the coaster with circular shape.",
+    "Use an arm, take the blue rounded-bottom cup past the smooth bottle with green top without nearing it, and rest the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Using an arm, pick the cup for holding liquids up, skirt the yellow container with green pump, and place the cup for holding liquids on the coaster made of smooth wood.",
+    "Lift the cylindrical light blue cup, route it away from the smooth bottle with green top, then put the cylindrical light blue cup squarely on the grainy texture coaster.",
+    "Guide the cup with light blue color with the arm around <the shampoo bottle with rounded body> and onto <the smooth round palm-sized coaster>.",
+    "Grab the cup for holding liquids, route around the shampoo bottle with handle slot, then lower the cup for holding liquids onto the flat round wooden coaster.",
+    "With an arm, move the cylindrical light blue cup past the plastic shampoo bottle with label and place the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Pick up the cup for holding liquids, guide it past the medium shampoo bottle with pump, and drop the cup for holding liquids on the flat round wooden coaster.",
+    "Move the cup with light blue color to the flat round wooden coaster without crossing the shampoo bottle with handle slot, then release the cup with light blue color.",
+    "Arm-lift the plastic cup for drinks, swing around <the medium shampoo bottle with pump>, then place the plastic cup for drinks onto <the light gray streaked wooden coaster>.",
+    "Use an arm: grab the cylindrical light blue cup, avoid the shampoo with green dispensing pump on the way, then set the cylindrical light blue cup on the flat round wooden coaster.",
+    "With an arm, lift the cup for holding liquids, avoid the plastic shampoo bottle with label, and place the cup for holding liquids on the coaster with circular shape.",
+    "Use an arm: take the medium blue cylindrical cup, avoid the shampoo bottle with handle slot during the move, and drop it on the round coaster.",
+    "With an arm, lift the cup with smooth plastic surface, avoid <the shampoo bottle with handle slot> on the way, and drop the cup with smooth plastic surface on <the flat surface gray wooden coaster>.",
+    "Lift the cup with light blue color, guide it around <the yellow bottle with green top>, then put the cup with light blue color onto <the light gray streaked wooden coaster>.",
+    "Lift the plastic cup for drinks, go around the yellow bottle with green top, and position the plastic cup for drinks squarely on the flat round wooden coaster.",
+    "Lift the blue rounded-bottom cup, guide it past the shampoo bottle with handle slot, and rest the blue rounded-bottom cup on the smooth round palm-sized coaster.",
+    "Use an arm to grab the light blue plastic cup, avoid the yellow shampoo with cartoon design, and set the light blue plastic cup down on the round coaster.",
+    "Using an arm, pick the smooth blue drinking cup up, skirt the hand-sized yellow shampoo bottle, and place the smooth blue drinking cup on the light gray round grainy coaster.",
+    "Carry the smooth blue cup for liquids toward <the small coaster with grain texture>, keeping the path clear of <the hand-sized yellow shampoo bottle>, then set down.",
+    "Use an arm: pick the blue rounded-bottom cup up, skirt <the yellow bottle with green top>, then place the blue rounded-bottom cup onto <the wooden coaster>.",
+    "Lift the plastic cup for drinks, keep clear of the plastic shampoo bottle with label, and put the plastic cup for drinks down on the coaster with circular shape.",
+    "Move the cylindrical light blue cup onto <the round coaster> and ensure the path stays away from <the yellow bottle with green top>.",
+    "Use an arm: grasp the plastic cup for drinks, avoid <the yellow container with green pump>, and place the plastic cup for drinks on <the grainy texture coaster>.",
+    "Using an arm, carry the smooth blue drinking cup past <the shampoo bottle with rounded body> and place the smooth blue drinking cup squarely on <the wooden coaster>.",
+    "Take the medium-sized plastic blue cup, guide it away from <the smooth bottle with green top>, and place the medium-sized plastic blue cup squarely on <the coaster with circular shape>.",
+    "Use an arm to lift the cylindrical light blue cup, keep distance from <the yellow bottle with green top>, and set the cylindrical light blue cup on <the light gray streaked wooden coaster>.",
+    "Take the smooth blue cup for liquids, swing wide of the medium shampoo bottle with pump, then rest the smooth blue cup for liquids on the light gray round grainy coaster.",
+    "Move the cylindrical light blue cup toward the flat surface gray wooden coaster without passing near the yellow shampoo bottle, then set it down.",
+    "Take the smooth blue cup for liquids to the wooden coaster while skirting the yellow container with green pump, then release the smooth blue cup for liquids on the wooden coaster.",
+    "With an arm, take the rounded base blue cup, avoid the yellow container with green pump, and put the rounded base blue cup on the small coaster with grain texture.",
+    "Secure the rounded base blue cup, keep its path away from the shampoo bottle with handle slot, and set the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Carry the smooth blue cup for liquids toward <the flat round wooden coaster>, skirting <the plastic shampoo bottle with label>, and set the smooth blue cup for liquids down.",
+    "Take the light blue plastic cup, keep its path away from the plastic shampoo bottle with label, and drop the light blue plastic cup on the light gray round grainy coaster.",
+    "Take the cup with smooth plastic surface, route it away from the yellow shampoo bottle, and set the cup with smooth plastic surface onto the wooden coaster.",
+    "Lift the medium blue cylindrical cup, pass by the bottle with cartoon label without contact, then place the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Move the light blue plastic cup to <the small coaster with grain texture> while keeping the light blue plastic cup away from <the bottle with cartoon label>, then release.",
+    "Use the arm to carry the smooth blue drinking cup around the yellow container with green pump, then rest the smooth blue drinking cup on the coaster with circular shape.",
+    "Use the arm to move the cup for holding liquids past <the hand-sized yellow shampoo bottle> and rest it on <the grainy texture coaster>.",
+    "Use an arm to take the blue rounded-bottom cup around <the smooth bottle with green top> and place the blue rounded-bottom cup on <the round coaster>.",
+    "With an arm, pick the cup with smooth plastic surface up, bypass <the yellow shampoo bottle>, then place the cup with smooth plastic surface on <the coaster with circular shape>.",
+    "Pick up the blue rounded-bottom cup, route it away from the yellow shampoo bottle, then set the blue rounded-bottom cup on the small coaster with grain texture.",
+    "Use an arm to bring the cylindrical light blue cup to the coaster with circular shape, keeping the cylindrical light blue cup clear of the yellow shampoo with cartoon design.",
+    "Use an arm to move the cup with smooth plastic surface around the yellow bottle with green top and rest the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Move the rounded base blue cup to the flat surface gray wooden coaster while avoiding the shampoo bottle with rounded body, then place the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Move the cup with smooth plastic surface to <the grainy texture coaster> while keeping its path away from <the hand-sized yellow shampoo bottle>.",
+    "Slide the light blue plastic cup toward the wooden coaster, detouring around the shampoo bottle with handle slot, then set the light blue plastic cup down.",
+    "Use an arm, take the cup with smooth plastic surface, avoid <the smooth bottle with green top> on the way, and set on <the light gray streaked wooden coaster>.",
+    "Slide the cup with smooth plastic surface over to <the light gray round grainy coaster> without passing near <the yellow container with green pump>.",
+    "With an arm, lift the cup with light blue color, guide it past the shampoo bottle with rounded body, and put the cup with light blue color on the light gray streaked wooden coaster.",
+    "With an arm, bring the smooth blue cup for liquids over to <the wooden coaster> and keep clear of <the bottle with cartoon label>.",
+    "Pick the cup with light blue color up, route it away from the plastic shampoo bottle with label, and drop the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Lift the cylindrical light blue cup, pass beside <the medium shampoo bottle with pump> without contact, then place the cylindrical light blue cup onto <the flat round wooden coaster>.",
+    "Carry the light blue plastic cup toward the round coaster with light streaks, keeping the light blue plastic cup away from the plastic shampoo bottle with label, then set down.",
+    "Using an arm, grasp the blue rounded-bottom cup, skirt the hand-sized yellow shampoo bottle, and place the blue rounded-bottom cup atop the small coaster with grain texture.",
+    "Using an arm, carry the medium blue cylindrical cup around the bottle with cartoon label and place the medium blue cylindrical cup onto the wooden coaster.",
+    "Carry the smooth blue cup for liquids toward <the round coaster>, keeping clear of <the shampoo bottle with rounded body>, and set the smooth blue cup for liquids down.",
+    "Take the smooth blue drinking cup, keep its path away from the bottle with cartoon label, and place the smooth blue drinking cup on the grainy texture coaster.",
+    "With an arm, lift the blue rounded-bottom cup, keep it away from the bottle with cartoon label, and drop it onto the smooth round palm-sized coaster."
+  ],
+  "unseen": [
+    "Use an arm to grab the blue cup, steer around the yellow shampoo with pump dispenser, and set the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the smooth plastic shampoo container, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the smooth plastic shampoo container, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth plastic shampoo container, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the yellow shampoo with pump dispenser, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the smooth plastic shampoo container>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the yellow bottle with rounded edges, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the yellow shampoo with pump dispenser>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the smooth plastic shampoo container, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the yellow shampoo with pump dispenser>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the yellow shampoo with pump dispenser>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the yellow bottle with rounded edges>, and place the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the yellow shampoo with pump dispenser>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the yellow bottle with rounded edges, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the yellow shampoo with pump dispenser, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the yellow bottle with rounded edges, and set the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the yellow bottle with rounded edges, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth plastic shampoo container, and set the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, steer it around the smooth plastic shampoo container, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the smooth plastic shampoo container>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the yellow bottle with rounded edges, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the yellow shampoo with pump dispenser>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the smooth plastic shampoo container, then place the small smooth cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the smooth plastic shampoo container>, then set the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the yellow bottle with rounded edges, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth plastic shampoo container>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the yellow bottle with rounded edges>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the yellow bottle with rounded edges>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the yellow shampoo with pump dispenser, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the yellow shampoo with pump dispenser, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the yellow shampoo with pump dispenser, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the yellow shampoo with pump dispenser, and set it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow bottle with rounded edges, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the smooth plastic shampoo container, then set the small smooth cup onto the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the yellow bottle with rounded edges>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the smooth plastic shampoo container, and place it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the yellow shampoo with pump dispenser>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the yellow shampoo with pump dispenser, then place the small smooth cup onto the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the yellow bottle with rounded edges>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the yellow bottle with rounded edges>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around <the yellow bottle with rounded edges>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, guide it around <the smooth plastic shampoo container>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the smooth plastic shampoo container, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the smooth plastic shampoo container, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the yellow shampoo with pump dispenser, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the yellow shampoo with pump dispenser, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the yellow bottle with rounded edges, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the yellow shampoo with pump dispenser, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the yellow shampoo with pump dispenser>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the yellow shampoo with pump dispenser, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the yellow shampoo with pump dispenser>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the yellow shampoo with pump dispenser, then place the blue cup onto the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the smooth plastic shampoo container>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the yellow bottle with rounded edges, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the smooth plastic shampoo container>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the smooth plastic shampoo container>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, guide it around <the yellow shampoo with pump dispenser>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the yellow shampoo with pump dispenser, then set the blue cup down on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the yellow shampoo with pump dispenser, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth plastic shampoo container, and set the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the smooth plastic shampoo container, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the yellow shampoo with pump dispenser, and set the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the yellow bottle with rounded edges, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth plastic shampoo container>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the yellow bottle with rounded edges, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the yellow shampoo with pump dispenser>, then place the small smooth cup onto <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the yellow shampoo with pump dispenser, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the yellow shampoo with pump dispenser>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the yellow shampoo with pump dispenser>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the yellow shampoo with pump dispenser>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, guide it around <the yellow bottle with rounded edges>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the yellow bottle with rounded edges, then set the blue cup down on the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the yellow shampoo with pump dispenser, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the yellow shampoo with pump dispenser, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the smooth plastic shampoo container, then place the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the smooth plastic shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the yellow shampoo with pump dispenser, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, steer it around the yellow shampoo with pump dispenser, then set the blue cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth plastic shampoo container>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the smooth plastic shampoo container, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the yellow bottle with rounded edges>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the yellow shampoo with pump dispenser, then place the small smooth cup onto the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the yellow shampoo with pump dispenser>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the yellow shampoo with pump dispenser>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around <the smooth plastic shampoo container>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the yellow bottle with rounded edges>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the yellow bottle with rounded edges, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the yellow shampoo with pump dispenser, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth plastic shampoo container, and set the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the yellow bottle with rounded edges, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the smooth plastic shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the yellow shampoo with pump dispenser, and set the small smooth cup on the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode75.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode75.json
new file mode 100644
index 0000000000000000000000000000000000000000..a40cddee4bbc7198cedcec4b1c903857e126a508
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode75.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Carry the cup for holding liquids toward <the smooth round palm-sized coaster>, keeping the path clear of <the bottle of shampoo>, then set down.",
+    "Take the medium blue cylindrical cup, keep its path away from the shampoo bottle with white cap, and drop the medium blue cylindrical cup on the coaster with circular shape.",
+    "Use an arm to take the cylindrical light blue cup around <the bottle light blue rounded shape> and place the cylindrical light blue cup on <the grainy texture coaster>.",
+    "Take the blue rounded-bottom cup, keep its path away from the bottle of shampoo, and place the blue rounded-bottom cup on the wooden coaster.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the bottle light blue rounded shape, and place the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Move the cylindrical light blue cup to <the smooth round palm-sized coaster> while keeping its path away from <the shampoo bottle with matte plastic>.",
+    "Lift the cup with light blue color, pass by the blue shampoo bottle without contact, then place the cup with light blue color on the light gray round grainy coaster.",
+    "Lift the rounded base blue cup, pass beside <the blue shampoo bottle> without contact, then place the rounded base blue cup onto <the small coaster with grain texture>.",
+    "Lift the smooth blue drinking cup, route it away from the bottle light blue rounded shape, then put the smooth blue drinking cup squarely on the flat surface gray wooden coaster.",
+    "Use an arm to lift the cup for holding liquids, arc around the shampoo bottle with white cap, and place the cup for holding liquids atop the small coaster with grain texture.",
+    "Use an arm to grab the cup with smooth plastic surface, avoid the bottle of shampoo, and set the cup with smooth plastic surface down on the smooth round palm-sized coaster.",
+    "Take the cup with smooth plastic surface, guide it away from <the blue shampoo bottle slender design>, and place the cup with smooth plastic surface squarely on <the round coaster with light streaks>.",
+    "Use an arm, keep the medium-sized plastic blue cup from the light blue shampoo bottle small size, and lower the medium-sized plastic blue cup onto the flat surface gray wooden coaster.",
+    "With an arm, bring the blue rounded-bottom cup over to <the small coaster with grain texture> and keep clear of <the hand-sized shampoo bottle>.",
+    "Using an arm, carry the cup with smooth plastic surface past <the blue shampoo bottle> and place the cup with smooth plastic surface squarely on <the round coaster with light streaks>.",
+    "Lift the cup with smooth plastic surface, keep clear of the curved light blue shampoo bottle, and put the cup with smooth plastic surface down on the round coaster.",
+    "Using an arm, move the smooth blue drinking cup to <the small coaster with grain texture> while avoiding <the bottle of shampoo>, then release the smooth blue drinking cup.",
+    "Move the cup with smooth plastic surface to the coaster with circular shape without crossing the blue shampoo bottle slender design, then release the cup with smooth plastic surface.",
+    "Pick up the light blue plastic cup, keep clear of <the shampoo bottle with white cap>, and drop the light blue plastic cup onto <the flat surface gray wooden coaster>.",
+    "Pick up the smooth blue cup for liquids, guide it past the light blue shampoo bottle small size, and drop the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "Pick up the rounded base blue cup, route it away from the blue shampoo bottle slender design, then set the rounded base blue cup on the round coaster.",
+    "Move the medium blue cylindrical cup to <the coaster with circular shape> while keeping the medium blue cylindrical cup away from <the bottle of shampoo>, then release.",
+    "With an arm, lift the cup for holding liquids, avoid the curved light blue shampoo bottle, and set the cup for holding liquids onto the coaster made of smooth wood.",
+    "Use an arm to bring the cup for holding liquids to the round coaster, keeping the cup for holding liquids clear of the small smooth shampoo bottle.",
+    "Grab the cup with smooth plastic surface, guide it away from the shampoo bottle flat bottom edge, and set the cup with smooth plastic surface neatly on the flat round wooden coaster.",
+    "Use an arm: grasp the blue rounded-bottom cup, avoid <the small smooth shampoo bottle>, and place the blue rounded-bottom cup on <the smooth round palm-sized coaster>.",
+    "Secure the smooth blue cup for liquids, move it around the curved light blue shampoo bottle, and place the smooth blue cup for liquids squarely on the flat surface gray wooden coaster.",
+    "Use an arm: pick the cylindrical light blue cup up, skirt <the shampoo bottle flat bottom edge>, then place the cylindrical light blue cup onto <the coaster with circular shape>.",
+    "Arm-lift the cylindrical light blue cup, swing around <the blue shampoo bottle>, then place the cylindrical light blue cup onto <the coaster made of smooth wood>.",
+    "Use an arm to lift the rounded base blue cup, keep distance from <the blue shampoo bottle slender design>, and set the rounded base blue cup on <the round coaster>.",
+    "Use an arm: take the medium blue cylindrical cup, avoid the shampoo bottle with matte plastic during the move, and drop it on the grainy texture coaster.",
+    "Slide the rounded base blue cup toward the light gray streaked wooden coaster, detouring around the bottle of shampoo, then set the rounded base blue cup down.",
+    "Grab the medium blue cylindrical cup, swing it away from <the light blue shampoo bottle small size>, and place the medium blue cylindrical cup on <the wooden coaster>.",
+    "Move the cup with light blue color toward the flat surface gray wooden coaster without passing near the blue shampoo bottle, then set it down.",
+    "Lift the cylindrical light blue cup, guide it around <the shampoo bottle with white cap>, then put the cylindrical light blue cup onto <the light gray streaked wooden coaster>.",
+    "With an arm, pick the smooth blue drinking cup up, bypass <the small smooth shampoo bottle>, then place the smooth blue drinking cup on <the coaster with circular shape>.",
+    "Use an arm to move the cup for holding liquids toward the light gray round grainy coaster, keeping the cup for holding liquids clear of the curved light blue shampoo bottle.",
+    "Use an arm, take the smooth blue cup for liquids, avoid <the shampoo bottle with matte plastic> on the way, and set on <the flat surface gray wooden coaster>.",
+    "Move the medium-sized plastic blue cup to the grainy texture coaster while avoiding the shampoo bottle with white cap, then place the medium-sized plastic blue cup on the grainy texture coaster.",
+    "Pick up the cup with light blue color, avoid the blue shampoo bottle slender design along the way, and place the cup with light blue color on the small coaster with grain texture.",
+    "Pick the plastic cup for drinks up, route it away from the small smooth shampoo bottle, and drop the plastic cup for drinks onto the wooden coaster.",
+    "Carry the medium blue cylindrical cup toward the small coaster with grain texture, keeping the medium blue cylindrical cup away from the bottle light blue rounded shape, then set down.",
+    "Take the cup with light blue color, swing wide of the blue shampoo bottle slender design, then rest the cup with light blue color on the round coaster with light streaks.",
+    "Guide the smooth blue cup for liquids with the arm around <the shampoo bottle flat bottom edge> and onto <the coaster with circular shape>.",
+    "Lift the smooth blue drinking cup, steer away from <the blue shampoo bottle slender design>, then place the smooth blue drinking cup on <the small coaster with grain texture>.",
+    "Move the plastic cup for drinks onto the flat surface gray wooden coaster while avoiding the blue shampoo bottle, then let go of the plastic cup for drinks.",
+    "With an arm, lift the medium-sized plastic blue cup, keep it away from the hand-sized shampoo bottle, and drop it onto the smooth round palm-sized coaster.",
+    "Use the arm to lift the cup with light blue color, pass the shampoo bottle flat bottom edge, and place the cup with light blue color on the small coaster with grain texture.",
+    "Lift the cup for holding liquids, arc around the bottle light blue rounded shape, and place the cup for holding liquids squarely on the round coaster with light streaks.",
+    "Use an arm, take the blue rounded-bottom cup past the small smooth shampoo bottle without nearing it, and rest the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Take the medium-sized plastic blue cup in the arm, route around <the shampoo bottle with matte plastic>, and set it on <the coaster with circular shape>.",
+    "Move the smooth blue cup for liquids onto <the smooth round palm-sized coaster> and ensure the path stays away from <the curved light blue shampoo bottle>.",
+    "Take the cup for holding liquids, arc around <the blue shampoo bottle slender design>, and place the cup for holding liquids neatly on <the coaster with circular shape>.",
+    "With an arm, lift the smooth blue cup for liquids, route past <the shampoo bottle with white cap>, and drop the smooth blue cup for liquids onto <the light gray streaked wooden coaster>.",
+    "Use an arm, pick the cup with light blue color up, pass around the bottle light blue rounded shape, then place the cup with light blue color on the flat round wooden coaster.",
+    "With an arm, lift the light blue plastic cup, guide it past the blue shampoo bottle slender design, and put the light blue plastic cup on the coaster with circular shape.",
+    "Lift the medium blue cylindrical cup, guide it past the bottle light blue rounded shape, and rest the medium blue cylindrical cup on the coaster with circular shape.",
+    "Take the plastic cup for drinks to the smooth round palm-sized coaster while skirting the bottle of shampoo, then release the plastic cup for drinks on the smooth round palm-sized coaster.",
+    "Grab the cylindrical light blue cup, route around the hand-sized shampoo bottle, then lower the cylindrical light blue cup onto the flat surface gray wooden coaster.",
+    "Secure the cup with light blue color, keep its path away from the shampoo bottle tapered toward cap, and set the cup with light blue color on the light gray streaked wooden coaster.",
+    "Use an arm: grab the medium blue cylindrical cup, avoid the shampoo bottle flat bottom edge on the way, then set the medium blue cylindrical cup on the wooden coaster.",
+    "Carry the blue rounded-bottom cup toward <the coaster with circular shape>, skirting <the shampoo bottle with white cap>, and set the blue rounded-bottom cup down.",
+    "With an arm, take the plastic cup for drinks, avoid the shampoo bottle with matte plastic, and put the plastic cup for drinks on the grainy texture coaster.",
+    "Use the arm to move the cup with smooth plastic surface past <the blue shampoo bottle> and rest it on <the grainy texture coaster>.",
+    "Slide the cylindrical light blue cup over to <the smooth round palm-sized coaster> without passing near <the shampoo bottle flat bottom edge>.",
+    "Use an arm to move the smooth blue drinking cup around the shampoo bottle tapered toward cap and rest the smooth blue drinking cup on the smooth round palm-sized coaster.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the light blue shampoo bottle small size, and place the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Carry the smooth blue cup for liquids toward <the coaster with circular shape>, keeping clear of <the shampoo bottle with matte plastic>, and set the smooth blue cup for liquids down.",
+    "Pick up the blue rounded-bottom cup, keep its path away from <the hand-sized shampoo bottle>, and set the blue rounded-bottom cup on <the small coaster with grain texture>.",
+    "With an arm, move the rounded base blue cup past the blue shampoo bottle and place the rounded base blue cup on the round coaster.",
+    "Take the medium blue cylindrical cup, route it away from the shampoo bottle with matte plastic, and set the medium blue cylindrical cup onto the coaster with circular shape.",
+    "Using an arm, grasp the medium-sized plastic blue cup, skirt the shampoo bottle with matte plastic, and place the medium-sized plastic blue cup atop the round coaster.",
+    "Using an arm, carry the blue rounded-bottom cup around the light blue shampoo bottle small size and place the blue rounded-bottom cup onto the light gray round grainy coaster.",
+    "Move the plastic cup for drinks onto the coaster made of smooth wood while avoiding the shampoo bottle tapered toward cap, then let go of the plastic cup for drinks.",
+    "Lift the blue rounded-bottom cup, go around the bottle of shampoo, and position the blue rounded-bottom cup squarely on the light gray streaked wooden coaster.",
+    "Lift the cylindrical light blue cup, carry it around the small smooth shampoo bottle, and place the cylindrical light blue cup squarely on the small coaster with grain texture.",
+    "Using an arm, pick the smooth blue drinking cup up, skirt the shampoo bottle with white cap, and place the smooth blue drinking cup on the flat round wooden coaster.",
+    "Use the arm to carry the cup for holding liquids around the bottle light blue rounded shape, then rest the cup for holding liquids on the wooden coaster.",
+    "With an arm, lift the cylindrical light blue cup, avoid <the small smooth shampoo bottle> on the way, and drop the cylindrical light blue cup on <the grainy texture coaster>.",
+    "Use an arm to move the cup for holding liquids to the flat surface gray wooden coaster, keeping the cup for holding liquids from bumping the small smooth shampoo bottle.",
+    "Carry the cup with light blue color toward <the coaster with circular shape>, keeping the path clear of <the bottle of shampoo>, then set down.",
+    "Take the cylindrical light blue cup, keep its path away from the blue shampoo bottle, and drop the cylindrical light blue cup on the wooden coaster.",
+    "Use an arm to take the light blue plastic cup around <the hand-sized shampoo bottle> and place the light blue plastic cup on <the round coaster>.",
+    "Take the cylindrical light blue cup, keep its path away from the shampoo bottle flat bottom edge, and place the cylindrical light blue cup on the round coaster.",
+    "Using an arm, pick the blue rounded-bottom cup up, skirt the blue shampoo bottle slender design, and place the blue rounded-bottom cup on the smooth round palm-sized coaster.",
+    "Move the light blue plastic cup to <the coaster with circular shape> while keeping its path away from <the blue shampoo bottle slender design>.",
+    "Lift the smooth blue drinking cup, pass by the small smooth shampoo bottle without contact, then place the smooth blue drinking cup on the coaster made of smooth wood.",
+    "Lift the medium-sized plastic blue cup, pass beside <the shampoo bottle tapered toward cap> without contact, then place the medium-sized plastic blue cup onto <the round coaster>.",
+    "Lift the light blue plastic cup, route it away from the hand-sized shampoo bottle, then put the light blue plastic cup squarely on the round coaster with light streaks.",
+    "Use an arm to lift the medium blue cylindrical cup, arc around the shampoo bottle with white cap, and place the medium blue cylindrical cup atop the round coaster.",
+    "Use an arm to grab the cup with light blue color, avoid the light blue shampoo bottle small size, and set the cup with light blue color down on the flat surface gray wooden coaster.",
+    "Take the blue rounded-bottom cup, guide it away from <the shampoo bottle with matte plastic>, and place the blue rounded-bottom cup squarely on <the small coaster with grain texture>.",
+    "Use an arm, keep the cup for holding liquids from the small smooth shampoo bottle, and lower the cup for holding liquids onto the grainy texture coaster.",
+    "With an arm, bring the smooth blue cup for liquids over to <the coaster made of smooth wood> and keep clear of <the shampoo bottle with white cap>.",
+    "Using an arm, carry the medium blue cylindrical cup past <the bottle light blue rounded shape> and place the medium blue cylindrical cup squarely on <the coaster with circular shape>.",
+    "Lift the cylindrical light blue cup, keep clear of the hand-sized shampoo bottle, and put the cylindrical light blue cup down on the wooden coaster.",
+    "Using an arm, move the medium-sized plastic blue cup to <the round coaster> while avoiding <the light blue shampoo bottle small size>, then release the medium-sized plastic blue cup.",
+    "Move the cylindrical light blue cup to the flat round wooden coaster without crossing the shampoo bottle tapered toward cap, then release the cylindrical light blue cup.",
+    "Pick up the medium-sized plastic blue cup, keep clear of <the bottle light blue rounded shape>, and drop the medium-sized plastic blue cup onto <the wooden coaster>.",
+    "Pick up the light blue plastic cup, guide it past the bottle light blue rounded shape, and drop the light blue plastic cup on the light gray round grainy coaster."
+  ],
+  "unseen": [
+    "Grab the handheld round blue cup, route it around <the oval light blue shampoo container>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the smooth bottle containing shampoo, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the oval light blue shampoo container>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the shampoo container white rounded top, then set the blue cup down on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the smooth bottle containing shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the oval light blue shampoo container>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container white rounded top>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the smooth bottle containing shampoo, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the smooth bottle containing shampoo, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the smooth bottle containing shampoo>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container white rounded top, and place it on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container white rounded top>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the smooth bottle containing shampoo>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the smooth bottle containing shampoo, and place the blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the smooth bottle containing shampoo>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the oval light blue shampoo container, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the smooth bottle containing shampoo>, then set the small smooth cup on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the oval light blue shampoo container>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the smooth bottle containing shampoo, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo container white rounded top, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container white rounded top>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container white rounded top, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep clear of the smooth bottle containing shampoo, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the smooth bottle containing shampoo>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the smooth bottle containing shampoo>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container white rounded top, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth bottle containing shampoo>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the oval light blue shampoo container, then set the small smooth cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo container white rounded top>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the oval light blue shampoo container>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the oval light blue shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the smooth bottle containing shampoo, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container white rounded top>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container white rounded top, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the oval light blue shampoo container, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the oval light blue shampoo container>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container white rounded top, and place the blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth bottle containing shampoo>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the oval light blue shampoo container, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the oval light blue shampoo container>, then set the blue cup on <the light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the oval light blue shampoo container>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the oval light blue shampoo container, and set it on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo container white rounded top, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth bottle containing shampoo, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the oval light blue shampoo container>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the smooth bottle containing shampoo, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container white rounded top, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo container white rounded top>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, route it around <the smooth bottle containing shampoo>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the smooth bottle containing shampoo, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the oval light blue shampoo container>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the oval light blue shampoo container, then set the small smooth cup down on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container white rounded top, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the oval light blue shampoo container>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the smooth bottle containing shampoo>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the oval light blue shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container white rounded top, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the oval light blue shampoo container, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container white rounded top>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the smooth bottle containing shampoo, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the smooth bottle containing shampoo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the oval light blue shampoo container>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the shampoo container white rounded top>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container white rounded top, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the oval light blue shampoo container>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the smooth bottle containing shampoo, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the smooth bottle containing shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo container white rounded top>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container white rounded top>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container white rounded top, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the oval light blue shampoo container, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the oval light blue shampoo container>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the oval light blue shampoo container, and place it on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the oval light blue shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the oval light blue shampoo container>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container white rounded top, and place the small smooth cup on the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the smooth bottle containing shampoo>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the smooth bottle containing shampoo, then set the handheld round blue cup down on the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode76.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode76.json
new file mode 100644
index 0000000000000000000000000000000000000000..75d1329ff5489bfacb47a9cd814be815d3a6d4b9
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode76.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Carry the light blue plastic cup toward the flat surface gray wooden coaster, keeping the light blue plastic cup away from the curved light blue shampoo bottle, then set down.",
+    "Lift the smooth blue cup for liquids, arc around the bottle of shampoo, and place the smooth blue cup for liquids squarely on the wooden coaster.",
+    "Move the medium-sized plastic blue cup onto the wooden coaster while avoiding the small smooth shampoo bottle, then let go of the medium-sized plastic blue cup.",
+    "Pick up the cup with smooth plastic surface, route it away from the blue shampoo bottle, then set the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Use the arm to move the blue rounded-bottom cup past <the shampoo bottle flat bottom edge> and rest it on <the small coaster with grain texture>.",
+    "Lift the cup with smooth plastic surface, carry it around the blue shampoo bottle, and place the cup with smooth plastic surface squarely on the flat surface gray wooden coaster.",
+    "With an arm, bring the plastic cup for drinks over to <the coaster made of smooth wood> and keep clear of <the small smooth shampoo bottle>.",
+    "Pick up the blue rounded-bottom cup, keep its path away from <the shampoo bottle tapered toward cap>, and set the blue rounded-bottom cup on <the coaster with circular shape>.",
+    "Use the arm to carry the cup for holding liquids around the shampoo bottle with matte plastic, then rest the cup for holding liquids on the grainy texture coaster.",
+    "Take the cylindrical light blue cup, arc around <the bottle light blue rounded shape>, and place the cylindrical light blue cup neatly on <the grainy texture coaster>.",
+    "Pick the cup with light blue color up, route it away from the shampoo bottle with matte plastic, and drop the cup with light blue color onto the coaster made of smooth wood.",
+    "Use an arm to grab the cup with smooth plastic surface, avoid the curved light blue shampoo bottle, and set the cup with smooth plastic surface down on the light gray streaked wooden coaster.",
+    "Use an arm, keep the rounded base blue cup from the hand-sized shampoo bottle, and lower the rounded base blue cup onto the wooden coaster.",
+    "Use an arm to move the light blue plastic cup to the smooth round palm-sized coaster, keeping the light blue plastic cup from bumping the shampoo bottle tapered toward cap.",
+    "Use an arm to lift the plastic cup for drinks, keep distance from <the small smooth shampoo bottle>, and set the plastic cup for drinks on <the light gray round grainy coaster>.",
+    "Move the medium blue cylindrical cup onto <the small coaster with grain texture> and ensure the path stays away from <the blue shampoo bottle slender design>.",
+    "Use an arm: grab the cup with light blue color, avoid the bottle of shampoo on the way, then set the cup with light blue color on the light gray streaked wooden coaster.",
+    "Take the plastic cup for drinks, keep its path away from the shampoo bottle flat bottom edge, and drop the plastic cup for drinks on the light gray round grainy coaster.",
+    "Use an arm: pick the smooth blue drinking cup up, skirt <the shampoo bottle with white cap>, then place the smooth blue drinking cup onto <the smooth round palm-sized coaster>.",
+    "Pick up the smooth blue cup for liquids, avoid the bottle light blue rounded shape along the way, and place the smooth blue cup for liquids on the small coaster with grain texture.",
+    "With an arm, lift the light blue plastic cup, avoid the bottle light blue rounded shape, and place the light blue plastic cup on the wooden coaster.",
+    "Use an arm to lift the blue rounded-bottom cup, arc around the hand-sized shampoo bottle, and place the blue rounded-bottom cup atop the wooden coaster.",
+    "With an arm, pick the light blue plastic cup up, bypass <the shampoo bottle with white cap>, then place the light blue plastic cup on <the flat round wooden coaster>.",
+    "With an arm, lift the rounded base blue cup, guide it past the shampoo bottle with white cap, and put the rounded base blue cup on the round coaster.",
+    "Use an arm: take the cylindrical light blue cup, avoid the blue shampoo bottle slender design during the move, and drop it on the round coaster with light streaks.",
+    "With an arm, lift the cup for holding liquids, avoid the shampoo bottle flat bottom edge, and set the cup for holding liquids onto the light gray streaked wooden coaster.",
+    "Take the blue rounded-bottom cup, guide it away from <the blue shampoo bottle>, and place the blue rounded-bottom cup squarely on <the round coaster with light streaks>.",
+    "Use an arm to bring the medium blue cylindrical cup to the coaster made of smooth wood, keeping the medium blue cylindrical cup clear of the bottle light blue rounded shape.",
+    "Lift the medium-sized plastic blue cup, guide it around <the curved light blue shampoo bottle>, then put the medium-sized plastic blue cup onto <the light gray round grainy coaster>.",
+    "Pick up the medium blue cylindrical cup, guide it past the bottle light blue rounded shape, and drop the medium blue cylindrical cup on the small coaster with grain texture.",
+    "With an arm, lift the cup with light blue color, keep it away from the blue shampoo bottle slender design, and drop it onto the light gray round grainy coaster.",
+    "Using an arm, move the cylindrical light blue cup to <the coaster made of smooth wood> while avoiding <the bottle light blue rounded shape>, then release the cylindrical light blue cup.",
+    "Use an arm to move the medium blue cylindrical cup around the blue shampoo bottle and rest the medium blue cylindrical cup on the coaster with circular shape.",
+    "Move the medium-sized plastic blue cup onto the coaster with circular shape while avoiding the light blue shampoo bottle small size, then let go of the medium-sized plastic blue cup.",
+    "Lift the cylindrical light blue cup, go around the shampoo bottle tapered toward cap, and position the cylindrical light blue cup squarely on the flat surface gray wooden coaster.",
+    "Use an arm: grasp the cup with smooth plastic surface, avoid <the bottle light blue rounded shape>, and place the cup with smooth plastic surface on <the coaster made of smooth wood>.",
+    "Use the arm to lift the cup with smooth plastic surface, pass the curved light blue shampoo bottle, and place the cup with smooth plastic surface on the coaster with circular shape.",
+    "Grab the medium-sized plastic blue cup, route around the curved light blue shampoo bottle, then lower the medium-sized plastic blue cup onto the flat round wooden coaster.",
+    "Secure the rounded base blue cup, keep its path away from the light blue shampoo bottle small size, and set the rounded base blue cup on the round coaster.",
+    "Move the cup with light blue color to the smooth round palm-sized coaster without crossing the shampoo bottle flat bottom edge, then release the cup with light blue color.",
+    "Using an arm, grasp the cup with smooth plastic surface, skirt the hand-sized shampoo bottle, and place the cup with smooth plastic surface atop the coaster made of smooth wood.",
+    "Move the cup with light blue color to the coaster made of smooth wood while avoiding the small smooth shampoo bottle, then place the cup with light blue color on the coaster made of smooth wood.",
+    "Move the plastic cup for drinks to <the light gray streaked wooden coaster> while keeping its path away from <the shampoo bottle with matte plastic>.",
+    "Lift the cylindrical light blue cup, guide it past the light blue shampoo bottle small size, and rest the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Move the smooth blue drinking cup toward the flat surface gray wooden coaster without passing near the shampoo bottle tapered toward cap, then set it down.",
+    "Slide the rounded base blue cup over to <the light gray streaked wooden coaster> without passing near <the shampoo bottle with matte plastic>.",
+    "Carry the cup with smooth plastic surface toward <the small coaster with grain texture>, skirting <the small smooth shampoo bottle>, and set the cup with smooth plastic surface down.",
+    "Using an arm, pick the medium-sized plastic blue cup up, skirt the blue shampoo bottle, and place the medium-sized plastic blue cup on the flat surface gray wooden coaster.",
+    "Take the medium blue cylindrical cup, swing wide of the blue shampoo bottle slender design, then rest the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Lift the medium blue cylindrical cup, keep clear of the curved light blue shampoo bottle, and put the medium blue cylindrical cup down on the flat surface gray wooden coaster.",
+    "Use an arm to move the smooth blue cup for liquids toward the grainy texture coaster, keeping the smooth blue cup for liquids clear of the light blue shampoo bottle small size.",
+    "Lift the cup for holding liquids, route it away from the shampoo bottle flat bottom edge, then put the cup for holding liquids squarely on the flat round wooden coaster.",
+    "Lift the smooth blue drinking cup, pass beside <the small smooth shampoo bottle> without contact, then place the smooth blue drinking cup onto <the grainy texture coaster>.",
+    "Arm-lift the smooth blue cup for liquids, swing around <the bottle of shampoo>, then place the smooth blue cup for liquids onto <the flat surface gray wooden coaster>.",
+    "With an arm, lift the cup for holding liquids, route past <the shampoo bottle flat bottom edge>, and drop the cup for holding liquids onto <the smooth round palm-sized coaster>.",
+    "Use an arm, pick the smooth blue drinking cup up, pass around the bottle light blue rounded shape, then place the smooth blue drinking cup on the grainy texture coaster.",
+    "Lift the smooth blue cup for liquids, steer away from <the shampoo bottle with matte plastic>, then place the smooth blue cup for liquids on <the flat round wooden coaster>.",
+    "Carry the cylindrical light blue cup toward <the coaster with circular shape>, keeping the path clear of <the blue shampoo bottle slender design>, then set down.",
+    "Take the cup with smooth plastic surface, route it away from the blue shampoo bottle slender design, and set the cup with smooth plastic surface onto the flat surface gray wooden coaster.",
+    "Grab the cup with light blue color, swing it away from <the shampoo bottle with matte plastic>, and place the cup with light blue color on <the coaster made of smooth wood>.",
+    "Guide the rounded base blue cup with the arm around <the bottle of shampoo> and onto <the grainy texture coaster>.",
+    "Use an arm, take the cup for holding liquids past the shampoo bottle tapered toward cap without nearing it, and rest the cup for holding liquids on the round coaster.",
+    "With an arm, take the plastic cup for drinks, avoid the shampoo bottle with white cap, and put the plastic cup for drinks on the round coaster.",
+    "Using an arm, carry the medium blue cylindrical cup past <the shampoo bottle with matte plastic> and place the medium blue cylindrical cup squarely on <the flat surface gray wooden coaster>.",
+    "Using an arm, pick the blue rounded-bottom cup up, skirt the shampoo bottle flat bottom edge, and place the blue rounded-bottom cup on the wooden coaster.",
+    "Pick up the medium-sized plastic blue cup, keep clear of <the blue shampoo bottle>, and drop the medium-sized plastic blue cup onto <the flat round wooden coaster>.",
+    "Using an arm, carry the plastic cup for drinks around the small smooth shampoo bottle and place the plastic cup for drinks onto the light gray streaked wooden coaster.",
+    "Grab the cup with light blue color, guide it away from the bottle light blue rounded shape, and set the cup with light blue color neatly on the wooden coaster.",
+    "With an arm, move the cup with light blue color past the hand-sized shampoo bottle and place the cup with light blue color on the light gray streaked wooden coaster.",
+    "With an arm, lift the cup with light blue color, avoid <the bottle light blue rounded shape> on the way, and drop the cup with light blue color on <the smooth round palm-sized coaster>.",
+    "Take the cup with light blue color to the small coaster with grain texture while skirting the small smooth shampoo bottle, then release the cup with light blue color on the small coaster with grain texture.",
+    "Secure the light blue plastic cup, move it around the bottle light blue rounded shape, and place the light blue plastic cup squarely on the smooth round palm-sized coaster.",
+    "Carry the plastic cup for drinks toward <the grainy texture coaster>, keeping clear of <the bottle light blue rounded shape>, and set the plastic cup for drinks down.",
+    "Use an arm to take the plastic cup for drinks around <the light blue shampoo bottle small size> and place the plastic cup for drinks on <the coaster with circular shape>.",
+    "Move the smooth blue drinking cup to <the light gray round grainy coaster> while keeping the smooth blue drinking cup away from <the shampoo bottle with white cap>, then release.",
+    "Take the cup with light blue color, keep its path away from the blue shampoo bottle slender design, and place the cup with light blue color on the round coaster with light streaks.",
+    "Take the rounded base blue cup in the arm, route around <the small smooth shampoo bottle>, and set it on <the coaster with circular shape>.",
+    "Slide the cup for holding liquids toward the round coaster with light streaks, detouring around the shampoo bottle tapered toward cap, then set the cup for holding liquids down.",
+    "Lift the cup with smooth plastic surface, pass by the shampoo bottle tapered toward cap without contact, then place the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Use an arm, take the cup with smooth plastic surface, avoid <the blue shampoo bottle> on the way, and set on <the round coaster with light streaks>.",
+    "Carry the medium blue cylindrical cup toward the flat round wooden coaster, keeping the medium blue cylindrical cup away from the shampoo bottle flat bottom edge, then set down.",
+    "Lift the cup with light blue color, arc around the shampoo bottle tapered toward cap, and place the cup with light blue color squarely on the wooden coaster.",
+    "Move the cup with light blue color onto the small coaster with grain texture while avoiding the shampoo bottle flat bottom edge, then let go of the cup with light blue color.",
+    "Pick up the cup with light blue color, route it away from the hand-sized shampoo bottle, then set the cup with light blue color on the wooden coaster.",
+    "Use the arm to move the cylindrical light blue cup past <the blue shampoo bottle> and rest it on <the light gray streaked wooden coaster>.",
+    "Lift the rounded base blue cup, carry it around the blue shampoo bottle, and place the rounded base blue cup squarely on the flat round wooden coaster.",
+    "With an arm, bring the medium-sized plastic blue cup over to <the flat surface gray wooden coaster> and keep clear of <the shampoo bottle flat bottom edge>.",
+    "Pick up the medium-sized plastic blue cup, keep its path away from <the curved light blue shampoo bottle>, and set the medium-sized plastic blue cup on <the flat surface gray wooden coaster>.",
+    "Use the arm to carry the rounded base blue cup around the shampoo bottle with matte plastic, then rest the rounded base blue cup on the small coaster with grain texture.",
+    "Take the cup for holding liquids, arc around <the shampoo bottle with white cap>, and place the cup for holding liquids neatly on <the grainy texture coaster>.",
+    "Pick the medium blue cylindrical cup up, route it away from the bottle of shampoo, and drop the medium blue cylindrical cup onto the coaster made of smooth wood.",
+    "Use an arm to grab the plastic cup for drinks, avoid the bottle of shampoo, and set the plastic cup for drinks down on the coaster with circular shape.",
+    "Use an arm, keep the cylindrical light blue cup from the small smooth shampoo bottle, and lower the cylindrical light blue cup onto the light gray streaked wooden coaster.",
+    "Use an arm to move the medium blue cylindrical cup to the coaster made of smooth wood, keeping the medium blue cylindrical cup from bumping the shampoo bottle tapered toward cap.",
+    "Use an arm to lift the light blue plastic cup, keep distance from <the curved light blue shampoo bottle>, and set the light blue plastic cup on <the smooth round palm-sized coaster>.",
+    "Move the blue rounded-bottom cup onto <the round coaster with light streaks> and ensure the path stays away from <the small smooth shampoo bottle>.",
+    "Use an arm: grab the medium-sized plastic blue cup, avoid the shampoo bottle flat bottom edge on the way, then set the medium-sized plastic blue cup on the light gray streaked wooden coaster.",
+    "Take the cup for holding liquids, keep its path away from the shampoo bottle with white cap, and drop the cup for holding liquids on the round coaster.",
+    "Use an arm: pick the cup for holding liquids up, skirt <the blue shampoo bottle slender design>, then place the cup for holding liquids onto <the small coaster with grain texture>.",
+    "Pick up the smooth blue cup for liquids, avoid the bottle of shampoo along the way, and place the smooth blue cup for liquids on the light gray streaked wooden coaster."
+  ],
+  "unseen": [
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the oval light blue shampoo container>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo container white rounded top, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth bottle containing shampoo, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the smooth bottle containing shampoo, then set the handheld round blue cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the smooth bottle containing shampoo>, and place the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container white rounded top, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo container white rounded top, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the smooth bottle containing shampoo, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the smooth bottle containing shampoo>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, guide it around <the oval light blue shampoo container>, and place it on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the smooth bottle containing shampoo>, and set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the smooth bottle containing shampoo, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth bottle containing shampoo, and set the blue cup on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, steer it around the oval light blue shampoo container, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the smooth bottle containing shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the oval light blue shampoo container>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the smooth bottle containing shampoo>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the smooth bottle containing shampoo, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the oval light blue shampoo container, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container white rounded top, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo container white rounded top>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, guide it around <the shampoo container white rounded top>, and place it on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container white rounded top>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the smooth bottle containing shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the smooth bottle containing shampoo, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, steer it around the oval light blue shampoo container, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container white rounded top>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container white rounded top>, and place the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container white rounded top, and place it on the light gray coaster.",
+    "Grab the blue cup, carry it around the oval light blue shampoo container, then set the blue cup down on the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the smooth bottle containing shampoo, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the smooth bottle containing shampoo>, and place it on <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container white rounded top>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the oval light blue shampoo container, and set it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the smooth bottle containing shampoo, then set the handheld round blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep clear of the smooth bottle containing shampoo, then place the blue cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container white rounded top>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container white rounded top>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container white rounded top, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the smooth bottle containing shampoo, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the oval light blue shampoo container, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the smooth bottle containing shampoo>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, guide it around <the smooth bottle containing shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth bottle containing shampoo>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the smooth bottle containing shampoo, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, steer it around the oval light blue shampoo container, then set the small smooth cup onto the light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo container white rounded top, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the oval light blue shampoo container>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the smooth bottle containing shampoo>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the oval light blue shampoo container, and place it on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the oval light blue shampoo container, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the oval light blue shampoo container, and place the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the smooth bottle containing shampoo>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container white rounded top>, and place it on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth bottle containing shampoo>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the smooth bottle containing shampoo, and set it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth bottle containing shampoo, and set the blue cup on the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container white rounded top>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, steer it around the smooth bottle containing shampoo, then set the blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep clear of the oval light blue shampoo container, then place the blue cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo container white rounded top>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the oval light blue shampoo container>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container white rounded top, and place it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the smooth bottle containing shampoo, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the smooth bottle containing shampoo, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the smooth bottle containing shampoo>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the shampoo container white rounded top>, and place it on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the smooth bottle containing shampoo>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the smooth bottle containing shampoo, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode77.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode77.json
new file mode 100644
index 0000000000000000000000000000000000000000..750dedfcbfd5291492cb5a4a02cf212a7e8744b3
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode77.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the rounded base blue cup, guide it past the medium size shampoo bottle, and rest the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Use an arm: pick the smooth blue cup for liquids up, skirt <the shampoo container with dispensing pump>, then place the smooth blue cup for liquids onto <the light gray streaked wooden coaster>.",
+    "With an arm, bring the cylindrical light blue cup over to <the smooth round palm-sized coaster> and keep clear of <the dark green bottle with pump>.",
+    "With an arm, pick the rounded base blue cup up, bypass <the shampoo bottle, green with black cap>, then place the rounded base blue cup on <the light gray round grainy coaster>.",
+    "Take the cup with light blue color in the arm, route around <the shampoo bottle with black pump>, and set it on <the grainy texture coaster>.",
+    "With an arm, lift the rounded base blue cup, route past <the rectangular dark green shampoo bottle>, and drop the rounded base blue cup onto <the wooden coaster>.",
+    "Use an arm to lift the light blue plastic cup, arc around the shampoo container with dispensing pump, and place the light blue plastic cup atop the flat round wooden coaster.",
+    "Lift the medium blue cylindrical cup, keep clear of the dark green bottle with pump, and put the medium blue cylindrical cup down on the light gray round grainy coaster.",
+    "Grab the smooth blue cup for liquids, swing it away from <the rectangular green plastic shampoo dispenser>, and place the smooth blue cup for liquids on <the light gray streaked wooden coaster>.",
+    "With an arm, lift the medium blue cylindrical cup, avoid the rectangular dark green shampoo bottle, and place the medium blue cylindrical cup on the coaster with circular shape.",
+    "Use an arm, take the plastic cup for drinks, avoid <the green shampoo bottle> on the way, and set on <the light gray streaked wooden coaster>.",
+    "Use an arm: grasp the medium blue cylindrical cup, avoid <the green shampoo bottle>, and place the medium blue cylindrical cup on <the round coaster with light streaks>.",
+    "Use an arm, keep the cup with smooth plastic surface from the medium size shampoo bottle, and lower the cup with smooth plastic surface onto the coaster made of smooth wood.",
+    "Take the medium-sized plastic blue cup, route it away from the dark green bottle with pump, and set the medium-sized plastic blue cup onto the grainy texture coaster.",
+    "Take the smooth blue cup for liquids, guide it away from <the plastic shampoo container>, and place the smooth blue cup for liquids squarely on <the flat round wooden coaster>.",
+    "Use an arm, take the medium-sized plastic blue cup past the shampoo bottle with matte black pump without nearing it, and rest the medium-sized plastic blue cup on the flat surface gray wooden coaster.",
+    "Pick the light blue plastic cup up, route it away from the dark green bottle with pump, and drop the light blue plastic cup onto the smooth round palm-sized coaster.",
+    "Carry the medium-sized plastic blue cup toward <the light gray streaked wooden coaster>, keeping clear of <the dark green bottle with pump>, and set the medium-sized plastic blue cup down.",
+    "Move the cup for holding liquids to the flat surface gray wooden coaster without crossing the rectangular green plastic shampoo dispenser, then release the cup for holding liquids.",
+    "Use an arm to grab the cylindrical light blue cup, avoid the plastic shampoo container, and set the cylindrical light blue cup down on the coaster with circular shape.",
+    "Pick up the cup with smooth plastic surface, keep clear of <the dark green bottle with pump>, and drop the cup with smooth plastic surface onto <the round coaster with light streaks>.",
+    "Move the light blue plastic cup to the flat surface gray wooden coaster while avoiding the green shampoo bottle, then place the light blue plastic cup on the flat surface gray wooden coaster.",
+    "Grab the blue rounded-bottom cup, route around the hand-sized shampoo bottle, then lower the blue rounded-bottom cup onto the round coaster with light streaks.",
+    "Lift the smooth blue cup for liquids, go around the shampoo container with dispensing pump, and position the smooth blue cup for liquids squarely on the light gray streaked wooden coaster.",
+    "Using an arm, pick the cup with light blue color up, skirt the hand-sized shampoo bottle, and place the cup with light blue color on the round coaster with light streaks.",
+    "With an arm, move the light blue plastic cup past the rectangular dark green shampoo bottle and place the light blue plastic cup on the smooth round palm-sized coaster.",
+    "With an arm, lift the plastic cup for drinks, guide it past the rectangular dark green shampoo bottle, and put the plastic cup for drinks on the grainy texture coaster.",
+    "Use an arm, pick the smooth blue drinking cup up, pass around the rectangular dark green shampoo bottle, then place the smooth blue drinking cup on the round coaster.",
+    "Take the medium blue cylindrical cup, keep its path away from the dark green bottle with pump, and drop the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Use an arm to take the light blue plastic cup around <the hand-sized shampoo bottle> and place the light blue plastic cup on <the grainy texture coaster>.",
+    "Lift the cup with light blue color, pass by the green shampoo bottle without contact, then place the cup with light blue color on the light gray streaked wooden coaster.",
+    "Use an arm: take the medium-sized plastic blue cup, avoid the shampoo bottle with black pump during the move, and drop it on the wooden coaster.",
+    "Secure the smooth blue cup for liquids, move it around the shampoo bottle, green with black cap, and place the smooth blue cup for liquids squarely on the light gray round grainy coaster.",
+    "Using an arm, move the cup with smooth plastic surface to <the coaster with circular shape> while avoiding <the shampoo bottle with smooth surface>, then release the cup with smooth plastic surface.",
+    "Pick up the cup with smooth plastic surface, route it away from the medium size shampoo bottle, then set the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Use the arm to carry the cup with light blue color around the rectangular green plastic shampoo dispenser, then rest the cup with light blue color on the flat surface gray wooden coaster.",
+    "With an arm, lift the medium blue cylindrical cup, keep it away from the medium size shampoo bottle, and drop it onto the coaster with circular shape.",
+    "Take the cup with smooth plastic surface, arc around <the shampoo bottle, green with black cap>, and place the cup with smooth plastic surface neatly on <the coaster made of smooth wood>.",
+    "With an arm, take the rounded base blue cup, avoid the rectangular dark green shampoo bottle, and put the rounded base blue cup on the light gray round grainy coaster.",
+    "Carry the smooth blue drinking cup toward <the round coaster>, skirting <the shampoo bottle, green with black cap>, and set the smooth blue drinking cup down.",
+    "Move the cup with light blue color toward the coaster made of smooth wood without passing near the hand-sized shampoo bottle, then set it down.",
+    "Lift the medium-sized plastic blue cup, carry it around the shampoo container with dispensing pump, and place the medium-sized plastic blue cup squarely on the light gray streaked wooden coaster.",
+    "Use an arm to bring the rounded base blue cup to the coaster made of smooth wood, keeping the rounded base blue cup clear of the plastic shampoo container.",
+    "Use an arm to move the rounded base blue cup around the shampoo bottle with black pump and rest the rounded base blue cup on the smooth round palm-sized coaster.",
+    "Use the arm to move the cylindrical light blue cup past <the shampoo bottle with black pump> and rest it on <the coaster made of smooth wood>.",
+    "Lift the blue rounded-bottom cup, arc around the rectangular green plastic shampoo dispenser, and place the blue rounded-bottom cup squarely on the flat surface gray wooden coaster.",
+    "Arm-lift the medium-sized plastic blue cup, swing around <the rectangular dark green shampoo bottle>, then place the medium-sized plastic blue cup onto <the light gray round grainy coaster>.",
+    "Take the smooth blue drinking cup to the wooden coaster while skirting the dark green bottle with pump, then release the smooth blue drinking cup on the wooden coaster.",
+    "Lift the medium blue cylindrical cup, route it away from the shampoo bottle with black pump, then put the medium blue cylindrical cup squarely on the coaster made of smooth wood.",
+    "Take the medium blue cylindrical cup, keep its path away from the shampoo container with dispensing pump, and place the medium blue cylindrical cup on the grainy texture coaster.",
+    "Lift the cup for holding liquids, guide it around <the shampoo container with dispensing pump>, then put the cup for holding liquids onto <the smooth round palm-sized coaster>.",
+    "Pick up the light blue plastic cup, avoid the rectangular green plastic shampoo dispenser along the way, and place the light blue plastic cup on the flat surface gray wooden coaster.",
+    "Guide the medium blue cylindrical cup with the arm around <the shampoo bottle with black pump> and onto <the flat surface gray wooden coaster>.",
+    "Pick up the cup with light blue color, keep its path away from <the rectangular dark green shampoo bottle>, and set the cup with light blue color on <the wooden coaster>.",
+    "Using an arm, carry the light blue plastic cup around the shampoo container with dispensing pump and place the light blue plastic cup onto the light gray streaked wooden coaster.",
+    "Pick up the plastic cup for drinks, guide it past the rectangular green plastic shampoo dispenser, and drop the plastic cup for drinks on the wooden coaster.",
+    "Use an arm to move the rounded base blue cup toward the grainy texture coaster, keeping the rounded base blue cup clear of the medium size shampoo bottle.",
+    "Slide the blue rounded-bottom cup toward the light gray streaked wooden coaster, detouring around the shampoo container with dispensing pump, then set the blue rounded-bottom cup down.",
+    "Move the smooth blue drinking cup onto the light gray streaked wooden coaster while avoiding the plastic shampoo container, then let go of the smooth blue drinking cup.",
+    "Move the light blue plastic cup onto <the flat surface gray wooden coaster> and ensure the path stays away from <the shampoo bottle with matte black pump>.",
+    "Move the cup for holding liquids onto the coaster with circular shape while avoiding the shampoo bottle, green with black cap, then let go of the cup for holding liquids.",
+    "Move the medium-sized plastic blue cup to <the smooth round palm-sized coaster> while keeping the medium-sized plastic blue cup away from <the dark green bottle with pump>, then release.",
+    "Move the cup with smooth plastic surface to <the flat round wooden coaster> while keeping its path away from <the shampoo bottle, green with black cap>.",
+    "Take the cylindrical light blue cup, swing wide of the dark green bottle with pump, then rest the cylindrical light blue cup on the wooden coaster.",
+    "Using an arm, grasp the smooth blue cup for liquids, skirt the hand-sized shampoo bottle, and place the smooth blue cup for liquids atop the small coaster with grain texture.",
+    "Using an arm, pick the medium-sized plastic blue cup up, skirt the shampoo bottle with black pump, and place the medium-sized plastic blue cup on the flat round wooden coaster.",
+    "Use an arm to move the cylindrical light blue cup to the round coaster, keeping the cylindrical light blue cup from bumping the medium size shampoo bottle.",
+    "Use the arm to lift the rounded base blue cup, pass the dark green bottle with pump, and place the rounded base blue cup on the coaster with circular shape.",
+    "Carry the light blue plastic cup toward <the flat surface gray wooden coaster>, keeping the path clear of <the shampoo bottle with smooth surface>, then set down.",
+    "Use an arm to lift the cup with smooth plastic surface, keep distance from <the shampoo bottle with black pump>, and set the cup with smooth plastic surface on <the coaster made of smooth wood>.",
+    "With an arm, lift the cylindrical light blue cup, avoid the hand-sized shampoo bottle, and set the cylindrical light blue cup onto the small coaster with grain texture.",
+    "Lift the rounded base blue cup, pass beside <the shampoo bottle with smooth surface> without contact, then place the rounded base blue cup onto <the flat round wooden coaster>.",
+    "Using an arm, carry the cup with smooth plastic surface past <the hand-sized shampoo bottle> and place the cup with smooth plastic surface squarely on <the round coaster>.",
+    "Use an arm: grab the blue rounded-bottom cup, avoid the rectangular green plastic shampoo dispenser on the way, then set the blue rounded-bottom cup on the wooden coaster.",
+    "With an arm, lift the smooth blue cup for liquids, avoid <the rectangular dark green shampoo bottle> on the way, and drop the smooth blue cup for liquids on <the round coaster with light streaks>.",
+    "Lift the smooth blue drinking cup, steer away from <the hand-sized shampoo bottle>, then place the smooth blue drinking cup on <the flat round wooden coaster>.",
+    "Carry the blue rounded-bottom cup toward the flat surface gray wooden coaster, keeping the blue rounded-bottom cup away from the green shampoo bottle, then set down.",
+    "Slide the medium-sized plastic blue cup over to <the coaster made of smooth wood> without passing near <the shampoo bottle with smooth surface>.",
+    "Grab the cylindrical light blue cup, guide it away from the dark green bottle with pump, and set the cylindrical light blue cup neatly on the flat round wooden coaster.",
+    "Secure the smooth blue cup for liquids, keep its path away from the rectangular green plastic shampoo dispenser, and set the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "Lift the medium blue cylindrical cup, guide it past the rectangular green plastic shampoo dispenser, and rest the medium blue cylindrical cup on the round coaster.",
+    "Use an arm: pick the blue rounded-bottom cup up, skirt <the shampoo bottle with smooth surface>, then place the blue rounded-bottom cup onto <the round coaster>.",
+    "With an arm, bring the medium blue cylindrical cup over to <the light gray streaked wooden coaster> and keep clear of <the shampoo bottle with matte black pump>.",
+    "With an arm, pick the cup for holding liquids up, bypass <the hand-sized shampoo bottle>, then place the cup for holding liquids on <the small coaster with grain texture>.",
+    "Take the rounded base blue cup in the arm, route around <the shampoo bottle with smooth surface>, and set it on <the light gray round grainy coaster>.",
+    "With an arm, lift the smooth blue drinking cup, route past <the hand-sized shampoo bottle>, and drop the smooth blue drinking cup onto <the small coaster with grain texture>.",
+    "Use an arm to lift the cylindrical light blue cup, arc around the rectangular green plastic shampoo dispenser, and place the cylindrical light blue cup atop the wooden coaster.",
+    "Lift the rounded base blue cup, keep clear of the shampoo bottle, green with black cap, and put the rounded base blue cup down on the light gray streaked wooden coaster.",
+    "Grab the smooth blue cup for liquids, swing it away from <the shampoo bottle with matte black pump>, and place the smooth blue cup for liquids on <the grainy texture coaster>.",
+    "With an arm, lift the smooth blue cup for liquids, avoid the dark green bottle with pump, and place the smooth blue cup for liquids on the round coaster with light streaks.",
+    "Use an arm, take the blue rounded-bottom cup, avoid <the hand-sized shampoo bottle> on the way, and set on <the wooden coaster>.",
+    "Use an arm: grasp the smooth blue cup for liquids, avoid <the shampoo container with dispensing pump>, and place the smooth blue cup for liquids on <the light gray streaked wooden coaster>.",
+    "Use an arm, keep the blue rounded-bottom cup from the shampoo container with dispensing pump, and lower the blue rounded-bottom cup onto the wooden coaster.",
+    "Take the medium blue cylindrical cup, route it away from the shampoo bottle with matte black pump, and set the medium blue cylindrical cup onto the grainy texture coaster.",
+    "Take the cup for holding liquids, guide it away from <the rectangular green plastic shampoo dispenser>, and place the cup for holding liquids squarely on <the grainy texture coaster>.",
+    "Use an arm, take the cup for holding liquids past the shampoo bottle with smooth surface without nearing it, and rest the cup for holding liquids on the light gray round grainy coaster.",
+    "Pick the smooth blue cup for liquids up, route it away from the shampoo bottle, green with black cap, and drop the smooth blue cup for liquids onto the grainy texture coaster.",
+    "Carry the plastic cup for drinks toward <the coaster made of smooth wood>, keeping clear of <the rectangular green plastic shampoo dispenser>, and set the plastic cup for drinks down.",
+    "Move the medium blue cylindrical cup to the coaster made of smooth wood without crossing the rectangular green plastic shampoo dispenser, then release the medium blue cylindrical cup.",
+    "Use an arm to grab the blue rounded-bottom cup, avoid the hand-sized shampoo bottle, and set the blue rounded-bottom cup down on the smooth round palm-sized coaster."
+  ],
+  "unseen": [
+    "Use an arm to grab the handheld round blue cup, steer around the green bottle with pump top, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle for personal use, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the dark green pump shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the green bottle with pump top>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle for personal use>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle for personal use>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the green bottle with pump top, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle for personal use, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the dark green pump shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle for personal use>, and set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the green bottle with pump top, then place the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the dark green pump shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the dark green pump shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the green bottle with pump top, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, steer it around the green bottle with pump top, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the dark green pump shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the green bottle with pump top, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the dark green pump shampoo bottle, and place it on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the dark green pump shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the green bottle with pump top>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle for personal use>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the green bottle with pump top>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle for personal use, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the dark green pump shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the green bottle with pump top>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the green bottle with pump top>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the dark green pump shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the green bottle with pump top, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the dark green pump shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the dark green pump shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the green bottle with pump top, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the green bottle with pump top>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle for personal use, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle for personal use, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the dark green pump shampoo bottle, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the dark green pump shampoo bottle>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the green bottle with pump top>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the green bottle with pump top>, and place the small smooth cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the green bottle with pump top, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the dark green pump shampoo bottle, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the green bottle with pump top>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle for personal use>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the dark green pump shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the dark green pump shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle for personal use, and set the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the green bottle with pump top, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle for personal use, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle for personal use>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the dark green pump shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the dark green pump shampoo bottle, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the dark green pump shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the shampoo bottle for personal use>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the dark green pump shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the green bottle with pump top>, and place the small smooth cup on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle for personal use, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle for personal use, and place the handheld round blue cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle for personal use>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle for personal use>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle for personal use, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the green bottle with pump top, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the green bottle with pump top, and set the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the dark green pump shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the dark green pump shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the dark green pump shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle for personal use, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle for personal use, and place it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the dark green pump shampoo bottle, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo bottle for personal use>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the dark green pump shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the green bottle with pump top>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo bottle for personal use, then place the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the green bottle with pump top, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the green bottle with pump top>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the green bottle with pump top>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the green bottle with pump top, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the dark green pump shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle for personal use, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the green bottle with pump top, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the green bottle with pump top, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the green bottle with pump top>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle for personal use, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle for personal use, and place it on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the green bottle with pump top, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo bottle for personal use>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle for personal use>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the green bottle with pump top>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the green bottle with pump top, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle for personal use, and place the handheld round blue cup on the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle for personal use>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the dark green pump shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the green bottle with pump top, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the green bottle with pump top, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle for personal use, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the green bottle with pump top, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the dark green pump shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the green bottle with pump top>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle for personal use, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle for personal use, and place it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the green bottle with pump top, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the dark green pump shampoo bottle>, then place the blue cup onto <the light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode78.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode78.json
new file mode 100644
index 0000000000000000000000000000000000000000..df7579cf104ff06cbff9283dda7dabcc2ecede84
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode78.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the smooth blue cup for liquids, move it around the hand-sized yellow shampoo bottle, and place the smooth blue cup for liquids squarely on the grainy texture coaster.",
+    "Use an arm to bring the light blue plastic cup to the flat round wooden coaster, keeping the light blue plastic cup clear of the yellow shampoo bottle.",
+    "Use the arm to move the medium-sized plastic blue cup past <the shampoo bottle with rounded body> and rest it on <the small coaster with grain texture>.",
+    "Take the plastic cup for drinks, route it away from the yellow bottle with green top, and set the plastic cup for drinks onto the flat surface gray wooden coaster.",
+    "Move the cup for holding liquids to <the grainy texture coaster> while keeping the cup for holding liquids away from <the bottle with cartoon label>, then release.",
+    "Slide the medium-sized plastic blue cup over to <the wooden coaster> without passing near <the shampoo bottle with rounded body>.",
+    "Pick up the cup with light blue color, keep clear of <the plastic shampoo bottle with label>, and drop the cup with light blue color onto <the round coaster>.",
+    "Move the plastic cup for drinks onto the wooden coaster while avoiding the hand-sized yellow shampoo bottle, then let go of the plastic cup for drinks.",
+    "Move the cylindrical light blue cup to the smooth round palm-sized coaster while avoiding the shampoo bottle with handle slot, then place the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Use an arm to move the smooth blue cup for liquids around the bottle with cartoon label and rest the smooth blue cup for liquids on the grainy texture coaster.",
+    "Lift the cup for holding liquids, carry it around the yellow shampoo bottle, and place the cup for holding liquids squarely on the wooden coaster.",
+    "Arm-lift the plastic cup for drinks, swing around <the medium shampoo bottle with pump>, then place the plastic cup for drinks onto <the grainy texture coaster>.",
+    "Use an arm to move the light blue plastic cup to the small coaster with grain texture, keeping the light blue plastic cup from bumping the yellow shampoo bottle.",
+    "Using an arm, carry the medium-sized plastic blue cup past <the yellow bottle with green top> and place the medium-sized plastic blue cup squarely on <the smooth round palm-sized coaster>.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid the plastic shampoo bottle with label, and set the medium-sized plastic blue cup onto the flat surface gray wooden coaster.",
+    "With an arm, lift the cylindrical light blue cup, avoid <the bottle with cartoon label> on the way, and drop the cylindrical light blue cup on <the light gray streaked wooden coaster>.",
+    "Lift the medium-sized plastic blue cup, route it away from the yellow bottle with green top, then put the medium-sized plastic blue cup squarely on the small coaster with grain texture.",
+    "Pick up the cup with smooth plastic surface, guide it past the yellow shampoo bottle, and drop the cup with smooth plastic surface on the round coaster.",
+    "Slide the blue rounded-bottom cup toward the round coaster, detouring around the yellow container with green pump, then set the blue rounded-bottom cup down.",
+    "Carry the cup for holding liquids toward <the round coaster with light streaks>, keeping clear of <the shampoo with green dispensing pump>, and set the cup for holding liquids down.",
+    "Lift the cup with light blue color, steer away from <the yellow bottle with green top>, then place the cup with light blue color on <the coaster made of smooth wood>.",
+    "With an arm, lift the plastic cup for drinks, guide it past the smooth bottle with green top, and put the plastic cup for drinks on the round coaster with light streaks.",
+    "Using an arm, carry the cup for holding liquids around the plastic shampoo bottle with label and place the cup for holding liquids onto the grainy texture coaster.",
+    "Use an arm, take the plastic cup for drinks, avoid <the shampoo with green dispensing pump> on the way, and set on <the light gray streaked wooden coaster>.",
+    "Take the cup with smooth plastic surface, swing wide of the hand-sized yellow shampoo bottle, then rest the cup with smooth plastic surface on the grainy texture coaster.",
+    "Grab the plastic cup for drinks, swing it away from <the smooth bottle with green top>, and place the plastic cup for drinks on <the small coaster with grain texture>.",
+    "Take the rounded base blue cup to the smooth round palm-sized coaster while skirting the hand-sized yellow shampoo bottle, then release the rounded base blue cup on the smooth round palm-sized coaster.",
+    "Use an arm, take the medium blue cylindrical cup past the smooth bottle with green top without nearing it, and rest the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Grab the plastic cup for drinks, route around the plastic shampoo bottle with label, then lower the plastic cup for drinks onto the flat surface gray wooden coaster.",
+    "Guide the smooth blue drinking cup with the arm around <the yellow shampoo with cartoon design> and onto <the round coaster>.",
+    "With an arm, lift the cup with light blue color, route past <the smooth bottle with green top>, and drop the cup with light blue color onto <the small coaster with grain texture>.",
+    "With an arm, lift the cup with light blue color, avoid the yellow shampoo bottle, and place the cup with light blue color on the smooth round palm-sized coaster.",
+    "Lift the medium blue cylindrical cup, keep clear of the yellow container with green pump, and put the medium blue cylindrical cup down on the smooth round palm-sized coaster.",
+    "Use an arm: pick the smooth blue cup for liquids up, skirt <the plastic shampoo bottle with label>, then place the smooth blue cup for liquids onto <the coaster made of smooth wood>.",
+    "Carry the medium-sized plastic blue cup toward <the wooden coaster>, skirting <the yellow bottle with green top>, and set the medium-sized plastic blue cup down.",
+    "With an arm, pick the blue rounded-bottom cup up, bypass <the medium shampoo bottle with pump>, then place the blue rounded-bottom cup on <the small coaster with grain texture>.",
+    "Pick up the medium-sized plastic blue cup, route it away from the shampoo with green dispensing pump, then set the medium-sized plastic blue cup on the wooden coaster.",
+    "Use an arm to lift the medium blue cylindrical cup, keep distance from <the shampoo bottle with handle slot>, and set the medium blue cylindrical cup on <the flat round wooden coaster>.",
+    "Take the medium-sized plastic blue cup in the arm, route around <the yellow bottle with green top>, and set it on <the grainy texture coaster>.",
+    "Use an arm, pick the cup with smooth plastic surface up, pass around the medium shampoo bottle with pump, then place the cup with smooth plastic surface on the round coaster with light streaks.",
+    "Move the cup with light blue color to the round coaster with light streaks without crossing the yellow shampoo bottle, then release the cup with light blue color.",
+    "Use an arm: take the cylindrical light blue cup, avoid the shampoo bottle with rounded body during the move, and drop it on the flat surface gray wooden coaster.",
+    "Using an arm, pick the cup for holding liquids up, skirt the bottle with cartoon label, and place the cup for holding liquids on the round coaster.",
+    "Using an arm, move the cylindrical light blue cup to <the coaster made of smooth wood> while avoiding <the medium shampoo bottle with pump>, then release the cylindrical light blue cup.",
+    "Lift the medium-sized plastic blue cup, pass by the hand-sized yellow shampoo bottle without contact, then place the medium-sized plastic blue cup on the small coaster with grain texture.",
+    "Lift the cup with light blue color, pass beside <the smooth bottle with green top> without contact, then place the cup with light blue color onto <the smooth round palm-sized coaster>.",
+    "Take the cylindrical light blue cup, guide it away from <the yellow shampoo bottle>, and place the cylindrical light blue cup squarely on <the round coaster with light streaks>.",
+    "Lift the cup with smooth plastic surface, guide it around <the smooth bottle with green top>, then put the cup with smooth plastic surface onto <the smooth round palm-sized coaster>.",
+    "Move the cup for holding liquids toward the flat surface gray wooden coaster without passing near the plastic shampoo bottle with label, then set it down.",
+    "Use an arm to lift the blue rounded-bottom cup, arc around the yellow bottle with green top, and place the blue rounded-bottom cup atop the smooth round palm-sized coaster.",
+    "Use an arm: grab the cylindrical light blue cup, avoid the yellow shampoo with cartoon design on the way, then set the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Move the rounded base blue cup onto the coaster made of smooth wood while avoiding the yellow container with green pump, then let go of the rounded base blue cup.",
+    "With an arm, move the cup for holding liquids past the yellow bottle with green top and place the cup for holding liquids on the wooden coaster.",
+    "Use the arm to carry the blue rounded-bottom cup around the yellow shampoo bottle, then rest the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Use an arm, keep the medium-sized plastic blue cup from the yellow bottle with green top, and lower the medium-sized plastic blue cup onto the flat surface gray wooden coaster.",
+    "With an arm, take the cup with smooth plastic surface, avoid the bottle with cartoon label, and put the cup with smooth plastic surface on the wooden coaster.",
+    "Pick the medium-sized plastic blue cup up, route it away from the yellow shampoo with cartoon design, and drop the medium-sized plastic blue cup onto the light gray round grainy coaster.",
+    "Take the blue rounded-bottom cup, keep its path away from the shampoo with green dispensing pump, and drop the blue rounded-bottom cup on the smooth round palm-sized coaster.",
+    "Carry the plastic cup for drinks toward <the light gray streaked wooden coaster>, keeping the path clear of <the yellow shampoo bottle>, then set down.",
+    "Lift the rounded base blue cup, guide it past the medium shampoo bottle with pump, and rest the rounded base blue cup on the small coaster with grain texture.",
+    "Carry the blue rounded-bottom cup toward the coaster made of smooth wood, keeping the blue rounded-bottom cup away from the yellow shampoo bottle, then set down.",
+    "Take the cup for holding liquids, arc around <the bottle with cartoon label>, and place the cup for holding liquids neatly on <the light gray round grainy coaster>.",
+    "Use an arm: grasp the blue rounded-bottom cup, avoid <the yellow shampoo with cartoon design>, and place the blue rounded-bottom cup on <the wooden coaster>.",
+    "Using an arm, pick the blue rounded-bottom cup up, skirt the yellow container with green pump, and place the blue rounded-bottom cup on the coaster with circular shape.",
+    "Use the arm to lift the light blue plastic cup, pass the smooth bottle with green top, and place the light blue plastic cup on the light gray streaked wooden coaster.",
+    "Move the smooth blue cup for liquids to <the light gray streaked wooden coaster> while keeping its path away from <the shampoo bottle with rounded body>.",
+    "Pick up the blue rounded-bottom cup, avoid the hand-sized yellow shampoo bottle along the way, and place the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Lift the light blue plastic cup, go around the bottle with cartoon label, and position the light blue plastic cup squarely on the small coaster with grain texture.",
+    "With an arm, lift the medium-sized plastic blue cup, keep it away from the hand-sized yellow shampoo bottle, and drop it onto the flat round wooden coaster.",
+    "Lift the smooth blue cup for liquids, arc around the hand-sized yellow shampoo bottle, and place the smooth blue cup for liquids squarely on the small coaster with grain texture.",
+    "Use an arm to move the medium-sized plastic blue cup toward the light gray round grainy coaster, keeping the medium-sized plastic blue cup clear of the medium shampoo bottle with pump.",
+    "Secure the cup with light blue color, keep its path away from the shampoo bottle with handle slot, and set the cup with light blue color on the smooth round palm-sized coaster.",
+    "Pick up the cup with light blue color, keep its path away from <the medium shampoo bottle with pump>, and set the cup with light blue color on <the small coaster with grain texture>.",
+    "With an arm, bring the cup with smooth plastic surface over to <the flat surface gray wooden coaster> and keep clear of <the plastic shampoo bottle with label>.",
+    "Move the medium-sized plastic blue cup onto <the coaster with circular shape> and ensure the path stays away from <the yellow shampoo bottle>.",
+    "Grab the medium-sized plastic blue cup, guide it away from the shampoo bottle with rounded body, and set the medium-sized plastic blue cup neatly on the round coaster with light streaks.",
+    "Use an arm to take the cup with smooth plastic surface around <the plastic shampoo bottle with label> and place the cup with smooth plastic surface on <the coaster made of smooth wood>.",
+    "Use an arm to grab the cylindrical light blue cup, avoid the yellow shampoo with cartoon design, and set the cylindrical light blue cup down on the light gray streaked wooden coaster.",
+    "Using an arm, grasp the medium blue cylindrical cup, skirt the shampoo bottle with rounded body, and place the medium blue cylindrical cup atop the coaster made of smooth wood.",
+    "Take the rounded base blue cup, keep its path away from the hand-sized yellow shampoo bottle, and place the rounded base blue cup on the round coaster with light streaks.",
+    "Secure the smooth blue drinking cup, move it around the yellow container with green pump, and place the smooth blue drinking cup squarely on the small coaster with grain texture.",
+    "Use an arm to bring the rounded base blue cup to the coaster made of smooth wood, keeping the rounded base blue cup clear of the bottle with cartoon label.",
+    "Use the arm to move the smooth blue cup for liquids past <the shampoo with green dispensing pump> and rest it on <the flat surface gray wooden coaster>.",
+    "Take the rounded base blue cup, route it away from the shampoo bottle with rounded body, and set the rounded base blue cup onto the smooth round palm-sized coaster.",
+    "Move the cup with light blue color to <the light gray streaked wooden coaster> while keeping the cup with light blue color away from <the shampoo bottle with rounded body>, then release.",
+    "Slide the light blue plastic cup over to <the smooth round palm-sized coaster> without passing near <the plastic shampoo bottle with label>.",
+    "Pick up the blue rounded-bottom cup, keep clear of <the yellow bottle with green top>, and drop the blue rounded-bottom cup onto <the coaster with circular shape>.",
+    "Move the smooth blue drinking cup onto the coaster made of smooth wood while avoiding the yellow shampoo with cartoon design, then let go of the smooth blue drinking cup.",
+    "Move the smooth blue drinking cup to the coaster with circular shape while avoiding the yellow container with green pump, then place the smooth blue drinking cup on the coaster with circular shape.",
+    "Use an arm to move the cup with light blue color around the yellow shampoo with cartoon design and rest the cup with light blue color on the flat surface gray wooden coaster.",
+    "Lift the medium-sized plastic blue cup, carry it around the yellow shampoo bottle, and place the medium-sized plastic blue cup squarely on the coaster with circular shape.",
+    "Arm-lift the blue rounded-bottom cup, swing around <the medium shampoo bottle with pump>, then place the blue rounded-bottom cup onto <the grainy texture coaster>.",
+    "Use an arm to move the rounded base blue cup to the light gray streaked wooden coaster, keeping the rounded base blue cup from bumping the shampoo bottle with rounded body.",
+    "Using an arm, carry the cup with light blue color past <the yellow shampoo with cartoon design> and place the cup with light blue color squarely on <the smooth round palm-sized coaster>.",
+    "With an arm, lift the smooth blue cup for liquids, avoid the yellow container with green pump, and set the smooth blue cup for liquids onto the smooth round palm-sized coaster.",
+    "With an arm, lift the rounded base blue cup, avoid <the yellow container with green pump> on the way, and drop the rounded base blue cup on <the coaster made of smooth wood>.",
+    "Lift the cup with light blue color, route it away from the yellow bottle with green top, then put the cup with light blue color squarely on the round coaster.",
+    "Pick up the cup with smooth plastic surface, guide it past the bottle with cartoon label, and drop the cup with smooth plastic surface on the grainy texture coaster.",
+    "Slide the smooth blue drinking cup toward the small coaster with grain texture, detouring around the hand-sized yellow shampoo bottle, then set the smooth blue drinking cup down.",
+    "Carry the blue rounded-bottom cup toward <the wooden coaster>, keeping clear of <the yellow bottle with green top>, and set the blue rounded-bottom cup down."
+  ],
+  "unseen": [
+    "Grab the blue cup, route it around <the yellow shampoo with pump dispenser>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the yellow shampoo with pump dispenser, then set the blue cup down on the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the yellow bottle with rounded edges>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the yellow bottle with rounded edges, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow bottle with rounded edges, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the smooth plastic shampoo container, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the yellow shampoo with pump dispenser, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the smooth plastic shampoo container>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the smooth plastic shampoo container, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the yellow bottle with rounded edges, then place the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, steer it around the yellow shampoo with pump dispenser, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the yellow shampoo with pump dispenser>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set the handheld round blue cup on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the smooth plastic shampoo container>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the smooth plastic shampoo container>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the yellow bottle with rounded edges>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, carry it around the yellow shampoo with pump dispenser, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the yellow bottle with rounded edges>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the yellow shampoo with pump dispenser, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the smooth plastic shampoo container, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the yellow bottle with rounded edges, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the yellow shampoo with pump dispenser, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the yellow bottle with rounded edges, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the yellow shampoo with pump dispenser>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the yellow bottle with rounded edges, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the yellow bottle with rounded edges, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, steer it around the yellow bottle with rounded edges, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the smooth plastic shampoo container>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the yellow shampoo with pump dispenser, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth plastic shampoo container>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the yellow bottle with rounded edges>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the yellow shampoo with pump dispenser>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the yellow bottle with rounded edges, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the yellow bottle with rounded edges>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the smooth plastic shampoo container, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the yellow bottle with rounded edges, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the yellow bottle with rounded edges, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the yellow bottle with rounded edges, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the yellow bottle with rounded edges>, and place the blue cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the smooth plastic shampoo container, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the yellow bottle with rounded edges, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the smooth plastic shampoo container, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the smooth plastic shampoo container>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set the handheld round blue cup on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the yellow bottle with rounded edges>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the blue cup, avoid <the yellow bottle with rounded edges>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the smooth plastic shampoo container>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the smooth plastic shampoo container, then set the handheld round blue cup down on the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the yellow shampoo with pump dispenser>, and set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the yellow bottle with rounded edges, and place the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the smooth plastic shampoo container, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth plastic shampoo container, and set the blue cup on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the smooth plastic shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the yellow shampoo with pump dispenser, and place it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the yellow bottle with rounded edges>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the smooth plastic shampoo container, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the smooth plastic shampoo container, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the yellow shampoo with pump dispenser, then set the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the yellow shampoo with pump dispenser>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow bottle with rounded edges, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the yellow bottle with rounded edges>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the yellow bottle with rounded edges>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the yellow bottle with rounded edges>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, carry it around the yellow shampoo with pump dispenser, then set the blue cup down on the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the yellow bottle with rounded edges>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the yellow bottle with rounded edges, and place the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the yellow bottle with rounded edges, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the yellow shampoo with pump dispenser, and set it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the yellow shampoo with pump dispenser, and place it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the smooth plastic shampoo container>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the yellow bottle with rounded edges, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the smooth plastic shampoo container, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the yellow shampoo with pump dispenser, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the smooth plastic shampoo container>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the smooth plastic shampoo container, and set the blue cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth plastic shampoo container>, then set the handheld round blue cup on <the light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the yellow bottle with rounded edges>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the smooth plastic shampoo container>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the yellow shampoo with pump dispenser, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the yellow bottle with rounded edges>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the yellow bottle with rounded edges, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the smooth plastic shampoo container, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the yellow bottle with rounded edges, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the yellow bottle with rounded edges, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the smooth plastic shampoo container, and place it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the yellow bottle with rounded edges>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the yellow bottle with rounded edges, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the yellow shampoo with pump dispenser, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the yellow shampoo with pump dispenser, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the yellow shampoo with pump dispenser>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the yellow bottle with rounded edges, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth plastic shampoo container>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the smooth plastic shampoo container>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the yellow shampoo with pump dispenser>, then place the small smooth cup onto <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the smooth plastic shampoo container, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the smooth plastic shampoo container>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the smooth plastic shampoo container, and place the small smooth cup on the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode79.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode79.json
new file mode 100644
index 0000000000000000000000000000000000000000..48744f19ca11d94b475ebd6340820fc198cef69e
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode79.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With an arm, bring the cylindrical light blue cup over to <the wooden coaster> and keep clear of <the bottle with yellow cap>.",
+    "Move the cup with smooth plastic surface to the flat surface gray wooden coaster without crossing the white shampoo bottle, then release the cup with smooth plastic surface.",
+    "Move the plastic cup for drinks onto the flat round wooden coaster while avoiding the plastic shampoo bottle with smooth surface, then let go of the plastic cup for drinks.",
+    "Grab the light blue plastic cup, swing it away from <the bottle for shampoo with glossy finish>, and place the light blue plastic cup on <the round coaster>.",
+    "Use an arm to grab the smooth blue drinking cup, avoid the white shampoo bottle with golden top, and set the smooth blue drinking cup down on the grainy texture coaster.",
+    "Use an arm to bring the plastic cup for drinks to the small coaster with grain texture, keeping the plastic cup for drinks clear of the shampoo bottle.",
+    "Using an arm, pick the plastic cup for drinks up, skirt the hand-held shampoo bottle, and place the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Lift the rounded base blue cup, pass by the white shampoo bottle without contact, then place the rounded base blue cup on the grainy texture coaster.",
+    "Take the rounded base blue cup, arc around <the white shampoo bottle with golden top>, and place the rounded base blue cup neatly on <the coaster made of smooth wood>.",
+    "Use an arm to move the plastic cup for drinks to the light gray streaked wooden coaster, keeping the plastic cup for drinks from bumping the shampoo bottle with rectangular base.",
+    "Pick the plastic cup for drinks up, route it away from the white shampoo bottle with golden top, and drop the plastic cup for drinks onto the coaster made of smooth wood.",
+    "Slide the cup for holding liquids over to <the light gray streaked wooden coaster> without passing near <the white shampoo bottle>.",
+    "Using an arm, grasp the medium blue cylindrical cup, skirt the shampoo bottle, and place the medium blue cylindrical cup atop the flat round wooden coaster.",
+    "Using an arm, move the cup for holding liquids to <the round coaster with light streaks> while avoiding <the hand-held shampoo bottle>, then release the cup for holding liquids.",
+    "Use an arm: take the rounded base blue cup, avoid the medium shampoo container during the move, and drop it on the smooth round palm-sized coaster.",
+    "Use an arm: pick the smooth blue cup for liquids up, skirt <the smooth shampoo container>, then place the smooth blue cup for liquids onto <the coaster made of smooth wood>.",
+    "Use the arm to move the cup with smooth plastic surface past <the bottle for shampoo with glossy finish> and rest it on <the grainy texture coaster>.",
+    "Grab the light blue plastic cup, route around the plastic shampoo bottle with smooth surface, then lower the light blue plastic cup onto the coaster with circular shape.",
+    "Slide the cup with light blue color toward the smooth round palm-sized coaster, detouring around the bottle with yellow cap, then set the cup with light blue color down.",
+    "With an arm, lift the smooth blue cup for liquids, avoid the smooth shampoo container, and place the smooth blue cup for liquids on the coaster made of smooth wood.",
+    "Use an arm to move the cup for holding liquids around the rectangular shampoo bottle with rounded top and rest the cup for holding liquids on the coaster with circular shape.",
+    "Pick up the cup for holding liquids, route it away from the white shampoo bottle, then set the cup for holding liquids on the flat round wooden coaster.",
+    "Take the cup for holding liquids in the arm, route around <the rectangular shampoo bottle with rounded top>, and set it on <the coaster made of smooth wood>.",
+    "Use an arm: grasp the cylindrical light blue cup, avoid <the bottle for shampoo with glossy finish>, and place the cylindrical light blue cup on <the flat surface gray wooden coaster>.",
+    "Use an arm, take the cylindrical light blue cup, avoid <the medium shampoo container> on the way, and set on <the wooden coaster>.",
+    "Lift the medium blue cylindrical cup, route it away from the white bottle with golden accents, then put the medium blue cylindrical cup squarely on the light gray round grainy coaster.",
+    "Take the medium-sized plastic blue cup, swing wide of the shampoo bottle, then rest the medium-sized plastic blue cup on the small coaster with grain texture.",
+    "Guide the medium blue cylindrical cup with the arm around <the plastic shampoo bottle with smooth surface> and onto <the light gray streaked wooden coaster>.",
+    "Move the smooth blue drinking cup onto <the light gray streaked wooden coaster> and ensure the path stays away from <the medium shampoo container>.",
+    "Using an arm, carry the medium blue cylindrical cup around the white shampoo bottle with golden top and place the medium blue cylindrical cup onto the round coaster.",
+    "Move the cup for holding liquids to <the coaster made of smooth wood> while keeping its path away from <the white shampoo bottle>.",
+    "Lift the blue rounded-bottom cup, go around the smooth shampoo container, and position the blue rounded-bottom cup squarely on the round coaster.",
+    "Pick up the light blue plastic cup, avoid the shampoo bottle with rectangular base along the way, and place the light blue plastic cup on the round coaster with light streaks.",
+    "With an arm, take the blue rounded-bottom cup, avoid the white shampoo bottle with golden top, and put the blue rounded-bottom cup on the flat round wooden coaster.",
+    "Use the arm to lift the smooth blue cup for liquids, pass the white bottle with golden accents, and place the smooth blue cup for liquids on the coaster with circular shape.",
+    "Carry the cup with smooth plastic surface toward <the light gray streaked wooden coaster>, keeping the path clear of <the white shampoo bottle>, then set down.",
+    "Pick up the plastic cup for drinks, keep clear of <the rectangular shampoo bottle with rounded top>, and drop the plastic cup for drinks onto <the light gray streaked wooden coaster>.",
+    "Use an arm: grab the medium-sized plastic blue cup, avoid the bottle for shampoo with glossy finish on the way, then set the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "Move the cup with light blue color onto the small coaster with grain texture while avoiding the white shampoo bottle with golden top, then let go of the cup with light blue color.",
+    "Use an arm to lift the smooth blue drinking cup, arc around the shampoo bottle, and place the smooth blue drinking cup atop the smooth round palm-sized coaster.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid the bottle with yellow cap, and set the medium-sized plastic blue cup onto the grainy texture coaster.",
+    "With an arm, move the cup with light blue color past the shampoo bottle and place the cup with light blue color on the flat surface gray wooden coaster.",
+    "With an arm, pick the smooth blue drinking cup up, bypass <the medium shampoo container>, then place the smooth blue drinking cup on <the flat surface gray wooden coaster>.",
+    "Pick up the cylindrical light blue cup, keep its path away from <the plastic shampoo bottle with smooth surface>, and set the cylindrical light blue cup on <the round coaster with light streaks>.",
+    "With an arm, lift the light blue plastic cup, route past <the white bottle with golden accents>, and drop the light blue plastic cup onto <the flat surface gray wooden coaster>.",
+    "Take the cup for holding liquids, keep its path away from the bottle for shampoo with glossy finish, and drop the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Secure the cup with light blue color, keep its path away from the shampoo bottle, and set the cup with light blue color on the flat surface gray wooden coaster.",
+    "Lift the cylindrical light blue cup, keep clear of the rectangular shampoo bottle with rounded top, and put the cylindrical light blue cup down on the coaster made of smooth wood.",
+    "Arm-lift the blue rounded-bottom cup, swing around <the rectangular shampoo bottle with rounded top>, then place the blue rounded-bottom cup onto <the round coaster>.",
+    "Use an arm, keep the smooth blue drinking cup from the smooth shampoo container, and lower the smooth blue drinking cup onto the round coaster.",
+    "Using an arm, pick the rounded base blue cup up, skirt the bottle for shampoo with glossy finish, and place the rounded base blue cup on the light gray round grainy coaster.",
+    "Move the cup with light blue color toward the coaster with circular shape without passing near the bottle for shampoo with glossy finish, then set it down.",
+    "Take the smooth blue drinking cup to the wooden coaster while skirting the shampoo bottle, then release the smooth blue drinking cup on the wooden coaster.",
+    "Move the cup with smooth plastic surface to <the round coaster> while keeping the cup with smooth plastic surface away from <the medium shampoo container>, then release.",
+    "Use an arm to take the light blue plastic cup around <the bottle with yellow cap> and place the light blue plastic cup on <the grainy texture coaster>.",
+    "Use an arm, take the medium blue cylindrical cup past the bottle with yellow cap without nearing it, and rest the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Take the cup for holding liquids, keep its path away from the rectangular shampoo bottle with rounded top, and place the cup for holding liquids on the round coaster.",
+    "Grab the smooth blue drinking cup, guide it away from the rectangular shampoo bottle with rounded top, and set the smooth blue drinking cup neatly on the light gray round grainy coaster.",
+    "Take the cup for holding liquids, route it away from the white shampoo bottle, and set the cup for holding liquids onto the flat round wooden coaster.",
+    "Lift the rounded base blue cup, pass beside <the plastic shampoo bottle with smooth surface> without contact, then place the rounded base blue cup onto <the wooden coaster>.",
+    "Carry the rounded base blue cup toward <the grainy texture coaster>, keeping clear of <the rectangular shampoo bottle with rounded top>, and set the rounded base blue cup down.",
+    "Lift the plastic cup for drinks, guide it past the bottle with yellow cap, and rest the plastic cup for drinks on the round coaster with light streaks.",
+    "With an arm, lift the smooth blue cup for liquids, guide it past the plastic shampoo bottle with smooth surface, and put the smooth blue cup for liquids on the round coaster.",
+    "Move the smooth blue cup for liquids to the flat round wooden coaster while avoiding the rectangular shampoo bottle with rounded top, then place the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Secure the plastic cup for drinks, move it around the bottle for shampoo with glossy finish, and place the plastic cup for drinks squarely on the round coaster.",
+    "Carry the cup for holding liquids toward <the smooth round palm-sized coaster>, skirting <the plastic shampoo bottle with smooth surface>, and set the cup for holding liquids down.",
+    "Pick up the cylindrical light blue cup, guide it past the white shampoo bottle, and drop the cylindrical light blue cup on the coaster with circular shape.",
+    "Lift the cup with light blue color, arc around the white shampoo bottle with golden top, and place the cup with light blue color squarely on the light gray streaked wooden coaster.",
+    "Take the medium blue cylindrical cup, guide it away from <the bottle with yellow cap>, and place the medium blue cylindrical cup squarely on <the round coaster with light streaks>.",
+    "Use an arm to move the rounded base blue cup toward the wooden coaster, keeping the rounded base blue cup clear of the medium shampoo container.",
+    "Lift the light blue plastic cup, carry it around the hand-held shampoo bottle, and place the light blue plastic cup squarely on the grainy texture coaster.",
+    "With an arm, lift the cup with smooth plastic surface, avoid <the smooth shampoo container> on the way, and drop the cup with smooth plastic surface on <the small coaster with grain texture>.",
+    "Use an arm to lift the plastic cup for drinks, keep distance from <the medium shampoo container>, and set the plastic cup for drinks on <the smooth round palm-sized coaster>.",
+    "Use the arm to carry the blue rounded-bottom cup around the bottle with yellow cap, then rest the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "With an arm, lift the smooth blue cup for liquids, keep it away from the white bottle with golden accents, and drop it onto the flat round wooden coaster.",
+    "Using an arm, carry the cylindrical light blue cup past <the rectangular shampoo bottle with rounded top> and place the cylindrical light blue cup squarely on <the flat round wooden coaster>.",
+    "Carry the blue rounded-bottom cup toward the small coaster with grain texture, keeping the blue rounded-bottom cup away from the white shampoo bottle, then set down.",
+    "Lift the blue rounded-bottom cup, guide it around <the bottle for shampoo with glossy finish>, then put the blue rounded-bottom cup onto <the smooth round palm-sized coaster>.",
+    "Lift the cup with light blue color, steer away from <the bottle for shampoo with glossy finish>, then place the cup with light blue color on <the round coaster>.",
+    "Use an arm, pick the rounded base blue cup up, pass around the bottle with yellow cap, then place the rounded base blue cup on the round coaster with light streaks.",
+    "With an arm, bring the light blue plastic cup over to <the flat surface gray wooden coaster> and keep clear of <the white shampoo bottle with golden top>.",
+    "Move the light blue plastic cup to the smooth round palm-sized coaster without crossing the bottle with yellow cap, then release the light blue plastic cup.",
+    "Move the cylindrical light blue cup onto the round coaster with light streaks while avoiding the rectangular shampoo bottle with rounded top, then let go of the cylindrical light blue cup.",
+    "Grab the blue rounded-bottom cup, swing it away from <the white bottle with golden accents>, and place the blue rounded-bottom cup on <the flat round wooden coaster>.",
+    "Use an arm to grab the medium blue cylindrical cup, avoid the smooth shampoo container, and set the medium blue cylindrical cup down on the grainy texture coaster.",
+    "Use an arm to bring the cup with light blue color to the round coaster with light streaks, keeping the cup with light blue color clear of the bottle for shampoo with glossy finish.",
+    "Using an arm, pick the cup for holding liquids up, skirt the bottle for shampoo with glossy finish, and place the cup for holding liquids on the flat round wooden coaster.",
+    "Lift the rounded base blue cup, pass by the rectangular shampoo bottle with rounded top without contact, then place the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Take the cylindrical light blue cup, arc around <the shampoo bottle>, and place the cylindrical light blue cup neatly on <the grainy texture coaster>.",
+    "Use an arm to move the cup for holding liquids to the coaster made of smooth wood, keeping the cup for holding liquids from bumping the medium shampoo container.",
+    "Pick the plastic cup for drinks up, route it away from the white shampoo bottle with golden top, and drop the plastic cup for drinks onto the round coaster.",
+    "Slide the cylindrical light blue cup over to <the grainy texture coaster> without passing near <the bottle with yellow cap>.",
+    "Using an arm, grasp the smooth blue drinking cup, skirt the white shampoo bottle, and place the smooth blue drinking cup atop the light gray streaked wooden coaster.",
+    "Using an arm, move the cup for holding liquids to <the flat round wooden coaster> while avoiding <the smooth shampoo container>, then release the cup for holding liquids.",
+    "Use an arm: take the medium blue cylindrical cup, avoid the smooth shampoo container during the move, and drop it on the smooth round palm-sized coaster.",
+    "Use an arm: pick the medium blue cylindrical cup up, skirt <the smooth shampoo container>, then place the medium blue cylindrical cup onto <the smooth round palm-sized coaster>.",
+    "Use the arm to move the medium-sized plastic blue cup past <the white shampoo bottle> and rest it on <the light gray round grainy coaster>.",
+    "Grab the light blue plastic cup, route around the plastic shampoo bottle with smooth surface, then lower the light blue plastic cup onto the coaster with circular shape.",
+    "Slide the plastic cup for drinks toward the flat round wooden coaster, detouring around the smooth shampoo container, then set the plastic cup for drinks down.",
+    "With an arm, lift the cup for holding liquids, avoid the white shampoo bottle with golden top, and place the cup for holding liquids on the small coaster with grain texture."
+  ],
+  "unseen": [
+    "Use an arm to grab the handheld round blue cup, steer around <the white plastic shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the white plastic shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Grab the blue cup, route it around <the white plastic shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the medium-sized shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the medium-sized shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the white plastic shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white plastic shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the white plastic shampoo bottle>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the medium-sized shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white plastic shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the medium-sized shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the medium-sized shampoo bottle>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the medium-sized shampoo bottle, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the medium-sized shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the medium-sized shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white plastic shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the medium-sized shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the medium-sized shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the white plastic shampoo bottle>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the white plastic shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Grab the blue cup, route it around <the medium-sized shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, steer it around the medium-sized shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white plastic shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the medium-sized shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the medium-sized shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the medium-sized shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the white plastic shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the medium-sized shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the medium-sized shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the medium-sized shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the medium-sized shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the white plastic shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the medium-sized shampoo bottle, then set the blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the medium-sized shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the medium-sized shampoo bottle, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the medium-sized shampoo bottle, and set it on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white plastic shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the white plastic shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the medium-sized shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the white plastic shampoo bottle>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the medium-sized shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the white plastic shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white plastic shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the medium-sized shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the medium-sized shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the white plastic shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the medium-sized shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white plastic shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the medium-sized shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the medium-sized shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white plastic shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the medium-sized shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white plastic shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the medium-sized shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with rounded yellow cap>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the white plastic shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the medium-sized shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the medium-sized shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the white plastic shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, guide it around <the medium-sized shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the white plastic shampoo bottle>, and set the blue cup on <the light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode8.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..06a8fc7b41796062edcc0729e336693344eee4ea
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the blue rounded-bottom cup, keep its path away from the rectangular shampoo bottle with rounded top, and set the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Use an arm: grab the cylindrical light blue cup, avoid the smooth shampoo container on the way, then set the cylindrical light blue cup on the round coaster.",
+    "Use an arm to move the cup for holding liquids around the medium shampoo container and rest the cup for holding liquids on the flat round wooden coaster.",
+    "Use an arm to move the plastic cup for drinks to the coaster with circular shape, keeping the plastic cup for drinks from bumping the bottle with yellow cap.",
+    "With an arm, move the cup with smooth plastic surface past the medium shampoo container and place the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Pick up the cup for holding liquids, guide it past the white bottle with golden accents, and drop the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Take the blue rounded-bottom cup, keep its path away from the white shampoo bottle, and place the blue rounded-bottom cup on the small coaster with grain texture.",
+    "Take the light blue plastic cup, keep its path away from the shampoo bottle, and drop the light blue plastic cup on the small coaster with grain texture.",
+    "Grab the blue rounded-bottom cup, swing it away from <the white shampoo bottle with golden top>, and place the blue rounded-bottom cup on <the light gray streaked wooden coaster>.",
+    "Move the cup with smooth plastic surface to the round coaster with light streaks while avoiding the smooth shampoo container, then place the cup with smooth plastic surface on the round coaster with light streaks.",
+    "Use an arm: take the rounded base blue cup, avoid the shampoo bottle during the move, and drop it on the coaster with circular shape.",
+    "Take the smooth blue drinking cup, arc around <the rectangular shampoo bottle with rounded top>, and place the smooth blue drinking cup neatly on <the coaster with circular shape>.",
+    "Take the cup with light blue color, guide it away from <the rectangular shampoo bottle with rounded top>, and place the cup with light blue color squarely on <the round coaster with light streaks>.",
+    "Use an arm, take the rounded base blue cup, avoid <the white shampoo bottle with golden top> on the way, and set on <the grainy texture coaster>.",
+    "Using an arm, grasp the light blue plastic cup, skirt the bottle with yellow cap, and place the light blue plastic cup atop the coaster with circular shape.",
+    "Lift the cup with smooth plastic surface, route it away from the plastic shampoo bottle with smooth surface, then put the cup with smooth plastic surface squarely on the light gray round grainy coaster.",
+    "Take the cup with smooth plastic surface, route it away from the rectangular shampoo bottle with rounded top, and set the cup with smooth plastic surface onto the light gray round grainy coaster.",
+    "Secure the smooth blue drinking cup, move it around the white bottle with golden accents, and place the smooth blue drinking cup squarely on the flat surface gray wooden coaster.",
+    "Take the medium blue cylindrical cup, swing wide of the bottle with yellow cap, then rest the medium blue cylindrical cup on the small coaster with grain texture.",
+    "Pick the medium-sized plastic blue cup up, route it away from the bottle for shampoo with glossy finish, and drop the medium-sized plastic blue cup onto the smooth round palm-sized coaster.",
+    "With an arm, pick the plastic cup for drinks up, bypass <the white shampoo bottle>, then place the plastic cup for drinks on <the flat round wooden coaster>.",
+    "Slide the light blue plastic cup over to <the round coaster> without passing near <the white shampoo bottle>.",
+    "Using an arm, move the medium blue cylindrical cup to <the light gray round grainy coaster> while avoiding <the bottle with yellow cap>, then release the medium blue cylindrical cup.",
+    "Use the arm to move the smooth blue drinking cup past <the medium shampoo container> and rest it on <the light gray streaked wooden coaster>.",
+    "Use an arm to bring the medium-sized plastic blue cup to the small coaster with grain texture, keeping the medium-sized plastic blue cup clear of the shampoo bottle.",
+    "Arm-lift the cup for holding liquids, swing around <the plastic shampoo bottle with smooth surface>, then place the cup for holding liquids onto <the coaster made of smooth wood>.",
+    "Lift the light blue plastic cup, keep clear of the plastic shampoo bottle with smooth surface, and put the light blue plastic cup down on the smooth round palm-sized coaster.",
+    "Carry the rounded base blue cup toward <the small coaster with grain texture>, keeping clear of <the hand-held shampoo bottle>, and set the rounded base blue cup down.",
+    "With an arm, lift the cup with smooth plastic surface, guide it past the hand-held shampoo bottle, and put the cup with smooth plastic surface on the wooden coaster.",
+    "Lift the blue rounded-bottom cup, steer away from <the smooth shampoo container>, then place the blue rounded-bottom cup on <the coaster with circular shape>.",
+    "Carry the cup with light blue color toward <the light gray round grainy coaster>, keeping the path clear of <the bottle for shampoo with glossy finish>, then set down.",
+    "Using an arm, carry the cylindrical light blue cup around the shampoo bottle with rectangular base and place the cylindrical light blue cup onto the grainy texture coaster.",
+    "Use an arm to move the cup with smooth plastic surface toward the flat round wooden coaster, keeping the cup with smooth plastic surface clear of the smooth shampoo container.",
+    "Grab the cup with smooth plastic surface, guide it away from the bottle for shampoo with glossy finish, and set the cup with smooth plastic surface neatly on the wooden coaster.",
+    "Move the cup with smooth plastic surface to the coaster made of smooth wood without crossing the shampoo bottle with rectangular base, then release the cup with smooth plastic surface.",
+    "Use an arm: grasp the rounded base blue cup, avoid <the smooth shampoo container>, and place the rounded base blue cup on <the small coaster with grain texture>.",
+    "Pick up the rounded base blue cup, keep its path away from <the white shampoo bottle>, and set the rounded base blue cup on <the coaster with circular shape>.",
+    "Use an arm, pick the blue rounded-bottom cup up, pass around the shampoo bottle, then place the blue rounded-bottom cup on the grainy texture coaster.",
+    "Pick up the rounded base blue cup, keep clear of <the shampoo bottle>, and drop the rounded base blue cup onto <the flat round wooden coaster>.",
+    "Using an arm, carry the medium-sized plastic blue cup past <the shampoo bottle with rectangular base> and place the medium-sized plastic blue cup squarely on <the coaster with circular shape>.",
+    "Carry the cup with smooth plastic surface toward <the light gray streaked wooden coaster>, skirting <the white shampoo bottle>, and set the cup with smooth plastic surface down.",
+    "With an arm, take the cup for holding liquids, avoid the medium shampoo container, and put the cup for holding liquids on the round coaster with light streaks.",
+    "Lift the cylindrical light blue cup, pass by the shampoo bottle with rectangular base without contact, then place the cylindrical light blue cup on the coaster with circular shape.",
+    "Lift the cup for holding liquids, go around the hand-held shampoo bottle, and position the cup for holding liquids squarely on the smooth round palm-sized coaster.",
+    "With an arm, lift the cylindrical light blue cup, keep it away from the smooth shampoo container, and drop it onto the flat round wooden coaster.",
+    "Pick up the cup with light blue color, route it away from the bottle for shampoo with glossy finish, then set the cup with light blue color on the smooth round palm-sized coaster.",
+    "Pick up the rounded base blue cup, avoid the smooth shampoo container along the way, and place the rounded base blue cup on the coaster with circular shape.",
+    "Use an arm, take the cylindrical light blue cup past the white shampoo bottle with golden top without nearing it, and rest the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Grab the cup with smooth plastic surface, route around the white bottle with golden accents, then lower the cup with smooth plastic surface onto the coaster with circular shape.",
+    "Lift the cup with smooth plastic surface, carry it around the medium shampoo container, and place the cup with smooth plastic surface squarely on the smooth round palm-sized coaster.",
+    "Move the medium blue cylindrical cup onto <the smooth round palm-sized coaster> and ensure the path stays away from <the shampoo bottle>.",
+    "Use an arm, keep the plastic cup for drinks from the shampoo bottle with rectangular base, and lower the plastic cup for drinks onto the flat round wooden coaster.",
+    "With an arm, lift the medium-sized plastic blue cup, route past <the bottle with yellow cap>, and drop the medium-sized plastic blue cup onto <the round coaster>.",
+    "With an arm, lift the plastic cup for drinks, avoid the shampoo bottle with rectangular base, and place the plastic cup for drinks on the coaster made of smooth wood.",
+    "Use an arm to grab the cup with light blue color, avoid the white shampoo bottle with golden top, and set the cup with light blue color down on the light gray round grainy coaster.",
+    "Use an arm: pick the blue rounded-bottom cup up, skirt <the rectangular shampoo bottle with rounded top>, then place the blue rounded-bottom cup onto <the coaster made of smooth wood>.",
+    "Lift the rounded base blue cup, guide it around <the white shampoo bottle>, then put the rounded base blue cup onto <the round coaster with light streaks>.",
+    "Use the arm to carry the blue rounded-bottom cup around the plastic shampoo bottle with smooth surface, then rest the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Use an arm to lift the cup with light blue color, keep distance from <the white shampoo bottle with golden top>, and set the cup with light blue color on <the grainy texture coaster>.",
+    "With an arm, lift the smooth blue drinking cup, avoid the shampoo bottle, and set the smooth blue drinking cup onto the round coaster with light streaks.",
+    "Move the smooth blue drinking cup onto the round coaster while avoiding the hand-held shampoo bottle, then let go of the smooth blue drinking cup.",
+    "Use the arm to lift the cylindrical light blue cup, pass the shampoo bottle, and place the cylindrical light blue cup on the coaster with circular shape.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the rectangular shampoo bottle with rounded top, and place the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Move the cup with smooth plastic surface onto the wooden coaster while avoiding the white bottle with golden accents, then let go of the cup with smooth plastic surface.",
+    "With an arm, bring the smooth blue drinking cup over to <the round coaster> and keep clear of <the hand-held shampoo bottle>.",
+    "Lift the cup with light blue color, guide it past the shampoo bottle, and rest the cup with light blue color on the small coaster with grain texture.",
+    "Carry the cup with smooth plastic surface toward the grainy texture coaster, keeping the cup with smooth plastic surface away from the bottle with yellow cap, then set down.",
+    "Lift the rounded base blue cup, pass beside <the smooth shampoo container> without contact, then place the rounded base blue cup onto <the coaster with circular shape>.",
+    "Move the rounded base blue cup toward the light gray streaked wooden coaster without passing near the shampoo bottle with rectangular base, then set it down.",
+    "Move the cup for holding liquids to <the wooden coaster> while keeping its path away from <the smooth shampoo container>.",
+    "Guide the rounded base blue cup with the arm around <the smooth shampoo container> and onto <the coaster made of smooth wood>.",
+    "Take the smooth blue drinking cup to the light gray streaked wooden coaster while skirting the medium shampoo container, then release the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "Lift the smooth blue cup for liquids, arc around the white shampoo bottle, and place the smooth blue cup for liquids squarely on the smooth round palm-sized coaster.",
+    "Using an arm, pick the cup with light blue color up, skirt the hand-held shampoo bottle, and place the cup with light blue color on the coaster made of smooth wood.",
+    "Slide the cylindrical light blue cup toward the round coaster with light streaks, detouring around the white shampoo bottle with golden top, then set the cylindrical light blue cup down.",
+    "Move the cylindrical light blue cup to <the light gray round grainy coaster> while keeping the cylindrical light blue cup away from <the shampoo bottle>, then release.",
+    "Use an arm to take the cup with light blue color around <the shampoo bottle> and place the cup with light blue color on <the wooden coaster>.",
+    "With an arm, lift the plastic cup for drinks, avoid <the bottle with yellow cap> on the way, and drop the plastic cup for drinks on <the coaster with circular shape>.",
+    "Use an arm to lift the plastic cup for drinks, arc around the bottle with yellow cap, and place the plastic cup for drinks atop the light gray streaked wooden coaster.",
+    "Take the medium-sized plastic blue cup in the arm, route around <the shampoo bottle with rectangular base>, and set it on <the light gray streaked wooden coaster>.",
+    "Secure the light blue plastic cup, keep its path away from the white bottle with golden accents, and set the light blue plastic cup on the round coaster.",
+    "Use an arm: grab the smooth blue cup for liquids, avoid the bottle with yellow cap on the way, then set the smooth blue cup for liquids on the coaster with circular shape.",
+    "Use an arm to move the cup for holding liquids around the white shampoo bottle and rest the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Use an arm to move the smooth blue drinking cup to the small coaster with grain texture, keeping the smooth blue drinking cup from bumping the bottle for shampoo with glossy finish.",
+    "With an arm, move the smooth blue drinking cup past the bottle with yellow cap and place the smooth blue drinking cup on the flat surface gray wooden coaster.",
+    "Pick up the medium blue cylindrical cup, guide it past the shampoo bottle, and drop the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Take the smooth blue cup for liquids, keep its path away from the shampoo bottle with rectangular base, and place the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Take the light blue plastic cup, keep its path away from the hand-held shampoo bottle, and drop the light blue plastic cup on the round coaster.",
+    "Grab the light blue plastic cup, swing it away from <the medium shampoo container>, and place the light blue plastic cup on <the round coaster with light streaks>.",
+    "Move the cup with smooth plastic surface to the round coaster while avoiding the shampoo bottle, then place the cup with smooth plastic surface on the round coaster.",
+    "Use an arm: take the light blue plastic cup, avoid the rectangular shampoo bottle with rounded top during the move, and drop it on the light gray round grainy coaster.",
+    "Take the cup with light blue color, arc around <the bottle with yellow cap>, and place the cup with light blue color neatly on <the round coaster with light streaks>.",
+    "Take the light blue plastic cup, guide it away from <the shampoo bottle with rectangular base>, and place the light blue plastic cup squarely on <the coaster with circular shape>.",
+    "Use an arm, take the medium blue cylindrical cup, avoid <the shampoo bottle> on the way, and set on <the round coaster with light streaks>.",
+    "Using an arm, grasp the smooth blue cup for liquids, skirt the bottle with yellow cap, and place the smooth blue cup for liquids atop the flat round wooden coaster.",
+    "Lift the cylindrical light blue cup, route it away from the shampoo bottle, then put the cylindrical light blue cup squarely on the round coaster.",
+    "Take the plastic cup for drinks, route it away from the rectangular shampoo bottle with rounded top, and set the plastic cup for drinks onto the coaster with circular shape.",
+    "Secure the medium blue cylindrical cup, move it around the white bottle with golden accents, and place the medium blue cylindrical cup squarely on the round coaster.",
+    "Take the medium-sized plastic blue cup, swing wide of the white shampoo bottle, then rest the medium-sized plastic blue cup on the coaster with circular shape.",
+    "Pick the cup with light blue color up, route it away from the plastic shampoo bottle with smooth surface, and drop the cup with light blue color onto the light gray streaked wooden coaster."
+  ],
+  "unseen": [
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with rounded yellow cap, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the white plastic shampoo bottle>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the white plastic shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo bottle with rounded yellow cap, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the white plastic shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the medium-sized shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the white plastic shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the medium-sized shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the white plastic shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with rounded yellow cap, and place the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo bottle with rounded yellow cap>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the white plastic shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the white plastic shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white plastic shampoo bottle, and place it on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the white plastic shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white plastic shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white plastic shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white plastic shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the medium-sized shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the white plastic shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white plastic shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the white plastic shampoo bottle>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the white plastic shampoo bottle, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the white plastic shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, steer it around the medium-sized shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the white plastic shampoo bottle>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with rounded yellow cap>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the medium-sized shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the white plastic shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the medium-sized shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the white plastic shampoo bottle>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the white plastic shampoo bottle, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the white plastic shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the medium-sized shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup onto the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the medium-sized shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the white plastic shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with rounded yellow cap>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, avoid the medium-sized shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the white plastic shampoo bottle>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with rounded yellow cap>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo bottle with rounded yellow cap, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the white plastic shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the medium-sized shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with rounded yellow cap, then set the small smooth cup onto the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the medium-sized shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the white plastic shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the white plastic shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the medium-sized shampoo bottle, and place the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, route it around <the medium-sized shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the white plastic shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo bottle with rounded yellow cap, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the medium-sized shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the medium-sized shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the medium-sized shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the white plastic shampoo bottle, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the medium-sized shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the medium-sized shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the medium-sized shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the white plastic shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the white plastic shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with rounded yellow cap, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the medium-sized shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the white plastic shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the medium-sized shampoo bottle, then set the blue cup down on the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode80.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode80.json
new file mode 100644
index 0000000000000000000000000000000000000000..afd8965578f5e8e1b83fef8ad5964a53ee3f18e8
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode80.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm, take the medium blue cylindrical cup past the bottle of shampoo without nearing it, and rest the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Use an arm to lift the plastic cup for drinks, keep distance from <the light blue shampoo bottle small size>, and set the plastic cup for drinks on <the light gray round grainy coaster>.",
+    "Use an arm: take the medium blue cylindrical cup, avoid the bottle light blue rounded shape during the move, and drop it on the light gray round grainy coaster.",
+    "Use an arm: grab the medium blue cylindrical cup, avoid the blue shampoo bottle on the way, then set the medium blue cylindrical cup on the wooden coaster.",
+    "Use an arm: pick the smooth blue drinking cup up, skirt <the small smooth shampoo bottle>, then place the smooth blue drinking cup onto <the round coaster with light streaks>.",
+    "Use an arm, pick the cup with light blue color up, pass around the shampoo bottle tapered toward cap, then place the cup with light blue color on the small coaster with grain texture.",
+    "Use an arm, keep the smooth blue cup for liquids from the bottle of shampoo, and lower the smooth blue cup for liquids onto the wooden coaster.",
+    "Take the cylindrical light blue cup to the small coaster with grain texture while skirting the shampoo bottle tapered toward cap, then release the cylindrical light blue cup on the small coaster with grain texture.",
+    "Move the medium-sized plastic blue cup toward the coaster with circular shape without passing near the blue shampoo bottle slender design, then set it down.",
+    "Use an arm to move the cup with light blue color toward the coaster with circular shape, keeping the cup with light blue color clear of the shampoo bottle with white cap.",
+    "Grab the smooth blue drinking cup, guide it away from the hand-sized shampoo bottle, and set the smooth blue drinking cup neatly on the flat round wooden coaster.",
+    "Use an arm to take the cylindrical light blue cup around <the blue shampoo bottle> and place the cylindrical light blue cup on <the flat surface gray wooden coaster>.",
+    "Using an arm, pick the smooth blue drinking cup up, skirt the small smooth shampoo bottle, and place the smooth blue drinking cup on the light gray round grainy coaster.",
+    "Take the blue rounded-bottom cup, keep its path away from the bottle of shampoo, and drop the blue rounded-bottom cup on the wooden coaster.",
+    "Using an arm, move the cup for holding liquids to <the smooth round palm-sized coaster> while avoiding <the light blue shampoo bottle small size>, then release the cup for holding liquids.",
+    "Pick up the plastic cup for drinks, guide it past the bottle of shampoo, and drop the plastic cup for drinks on the coaster made of smooth wood.",
+    "Lift the blue rounded-bottom cup, guide it around <the blue shampoo bottle>, then put the blue rounded-bottom cup onto <the light gray streaked wooden coaster>.",
+    "With an arm, move the rounded base blue cup past the hand-sized shampoo bottle and place the rounded base blue cup on the round coaster.",
+    "Lift the cylindrical light blue cup, pass by the bottle light blue rounded shape without contact, then place the cylindrical light blue cup on the wooden coaster.",
+    "With an arm, take the smooth blue drinking cup, avoid the shampoo bottle with matte plastic, and put the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "Move the smooth blue drinking cup to <the smooth round palm-sized coaster> while keeping its path away from <the shampoo bottle with matte plastic>.",
+    "Secure the cup with smooth plastic surface, move it around the hand-sized shampoo bottle, and place the cup with smooth plastic surface squarely on the round coaster with light streaks.",
+    "Lift the medium blue cylindrical cup, steer away from <the shampoo bottle flat bottom edge>, then place the medium blue cylindrical cup on <the coaster with circular shape>.",
+    "Lift the light blue plastic cup, keep clear of the curved light blue shampoo bottle, and put the light blue plastic cup down on the round coaster with light streaks.",
+    "With an arm, lift the cup for holding liquids, avoid the shampoo bottle tapered toward cap, and set the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Using an arm, carry the cup with light blue color around the shampoo bottle tapered toward cap and place the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Take the blue rounded-bottom cup, guide it away from <the shampoo bottle flat bottom edge>, and place the blue rounded-bottom cup squarely on <the light gray round grainy coaster>.",
+    "Lift the cup with smooth plastic surface, carry it around the curved light blue shampoo bottle, and place the cup with smooth plastic surface squarely on the small coaster with grain texture.",
+    "Carry the medium blue cylindrical cup toward <the coaster made of smooth wood>, skirting <the hand-sized shampoo bottle>, and set the medium blue cylindrical cup down.",
+    "Carry the medium-sized plastic blue cup toward the flat round wooden coaster, keeping the medium-sized plastic blue cup away from the shampoo bottle with white cap, then set down.",
+    "Use an arm to move the medium blue cylindrical cup to the coaster with circular shape, keeping the medium blue cylindrical cup from bumping the small smooth shampoo bottle.",
+    "With an arm, lift the medium blue cylindrical cup, avoid the bottle of shampoo, and place the medium blue cylindrical cup on the coaster made of smooth wood.",
+    "Take the cup with light blue color, swing wide of the light blue shampoo bottle small size, then rest the cup with light blue color on the grainy texture coaster.",
+    "Carry the plastic cup for drinks toward <the light gray round grainy coaster>, keeping clear of <the shampoo bottle with white cap>, and set the plastic cup for drinks down.",
+    "Arm-lift the cup with smooth plastic surface, swing around <the shampoo bottle with matte plastic>, then place the cup with smooth plastic surface onto <the round coaster with light streaks>.",
+    "Lift the cup for holding liquids, go around the bottle of shampoo, and position the cup for holding liquids squarely on the coaster with circular shape.",
+    "Pick up the cup with light blue color, keep clear of <the shampoo bottle with matte plastic>, and drop the cup with light blue color onto <the wooden coaster>.",
+    "Grab the smooth blue drinking cup, swing it away from <the curved light blue shampoo bottle>, and place the smooth blue drinking cup on <the flat round wooden coaster>.",
+    "Use an arm: grasp the light blue plastic cup, avoid <the blue shampoo bottle slender design>, and place the light blue plastic cup on <the small coaster with grain texture>.",
+    "Use the arm to lift the smooth blue cup for liquids, pass the blue shampoo bottle slender design, and place the smooth blue cup for liquids on the light gray streaked wooden coaster.",
+    "With an arm, pick the cup with smooth plastic surface up, bypass <the shampoo bottle tapered toward cap>, then place the cup with smooth plastic surface on <the light gray round grainy coaster>.",
+    "Move the rounded base blue cup to the flat round wooden coaster without crossing the hand-sized shampoo bottle, then release the rounded base blue cup.",
+    "Slide the plastic cup for drinks toward the round coaster, detouring around the blue shampoo bottle slender design, then set the plastic cup for drinks down.",
+    "Use an arm to move the cup for holding liquids around the light blue shampoo bottle small size and rest the cup for holding liquids on the round coaster.",
+    "Carry the plastic cup for drinks toward <the light gray streaked wooden coaster>, keeping the path clear of <the shampoo bottle with matte plastic>, then set down.",
+    "Use an arm, take the smooth blue cup for liquids, avoid <the shampoo bottle flat bottom edge> on the way, and set on <the light gray round grainy coaster>.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid <the shampoo bottle tapered toward cap> on the way, and drop the medium-sized plastic blue cup on <the light gray streaked wooden coaster>.",
+    "Use an arm to grab the blue rounded-bottom cup, avoid the bottle of shampoo, and set the blue rounded-bottom cup down on the flat surface gray wooden coaster.",
+    "Using an arm, pick the rounded base blue cup up, skirt the curved light blue shampoo bottle, and place the rounded base blue cup on the round coaster.",
+    "Guide the smooth blue cup for liquids with the arm around <the curved light blue shampoo bottle> and onto <the small coaster with grain texture>.",
+    "Slide the cup for holding liquids over to <the light gray round grainy coaster> without passing near <the hand-sized shampoo bottle>.",
+    "Pick up the medium-sized plastic blue cup, keep its path away from <the blue shampoo bottle>, and set the medium-sized plastic blue cup on <the light gray round grainy coaster>.",
+    "Take the blue rounded-bottom cup, route it away from the shampoo bottle with matte plastic, and set the blue rounded-bottom cup onto the small coaster with grain texture.",
+    "Lift the cup with light blue color, guide it past the blue shampoo bottle, and rest the cup with light blue color on the small coaster with grain texture.",
+    "Using an arm, carry the cup with smooth plastic surface past <the shampoo bottle with white cap> and place the cup with smooth plastic surface squarely on <the coaster made of smooth wood>.",
+    "Move the cup with light blue color to the wooden coaster while avoiding the shampoo bottle tapered toward cap, then place the cup with light blue color on the wooden coaster.",
+    "Secure the cup with light blue color, keep its path away from the hand-sized shampoo bottle, and set the cup with light blue color on the round coaster with light streaks.",
+    "With an arm, lift the cup for holding liquids, keep it away from the light blue shampoo bottle small size, and drop it onto the flat round wooden coaster.",
+    "Use an arm to lift the cylindrical light blue cup, arc around the shampoo bottle tapered toward cap, and place the cylindrical light blue cup atop the light gray streaked wooden coaster.",
+    "With an arm, lift the blue rounded-bottom cup, route past <the shampoo bottle flat bottom edge>, and drop the blue rounded-bottom cup onto <the grainy texture coaster>.",
+    "Lift the cup for holding liquids, arc around the shampoo bottle with matte plastic, and place the cup for holding liquids squarely on the wooden coaster.",
+    "Use the arm to move the cup for holding liquids past <the curved light blue shampoo bottle> and rest it on <the round coaster with light streaks>.",
+    "Move the medium blue cylindrical cup onto the coaster with circular shape while avoiding the blue shampoo bottle, then let go of the medium blue cylindrical cup.",
+    "With an arm, lift the medium blue cylindrical cup, guide it past the blue shampoo bottle, and put the medium blue cylindrical cup on the round coaster with light streaks.",
+    "With an arm, bring the cup with smooth plastic surface over to <the light gray round grainy coaster> and keep clear of <the hand-sized shampoo bottle>.",
+    "Use the arm to carry the cup with smooth plastic surface around the light blue shampoo bottle small size, then rest the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Use an arm to bring the blue rounded-bottom cup to the light gray round grainy coaster, keeping the blue rounded-bottom cup clear of the small smooth shampoo bottle.",
+    "Move the medium blue cylindrical cup to <the smooth round palm-sized coaster> while keeping the medium blue cylindrical cup away from <the shampoo bottle flat bottom edge>, then release.",
+    "Take the cup with light blue color, keep its path away from the shampoo bottle flat bottom edge, and place the cup with light blue color on the flat surface gray wooden coaster.",
+    "Grab the medium-sized plastic blue cup, route around the hand-sized shampoo bottle, then lower the medium-sized plastic blue cup onto the smooth round palm-sized coaster.",
+    "Move the smooth blue drinking cup onto the round coaster while avoiding the curved light blue shampoo bottle, then let go of the smooth blue drinking cup.",
+    "Pick the light blue plastic cup up, route it away from the shampoo bottle tapered toward cap, and drop the light blue plastic cup onto the flat round wooden coaster.",
+    "Lift the cylindrical light blue cup, pass beside <the blue shampoo bottle> without contact, then place the cylindrical light blue cup onto <the smooth round palm-sized coaster>.",
+    "Lift the light blue plastic cup, route it away from the blue shampoo bottle slender design, then put the light blue plastic cup squarely on the light gray streaked wooden coaster.",
+    "Take the smooth blue drinking cup in the arm, route around <the curved light blue shampoo bottle>, and set it on <the coaster made of smooth wood>.",
+    "Pick up the plastic cup for drinks, route it away from the shampoo bottle tapered toward cap, then set the plastic cup for drinks on the coaster made of smooth wood.",
+    "Take the smooth blue cup for liquids, arc around <the small smooth shampoo bottle>, and place the smooth blue cup for liquids neatly on <the wooden coaster>.",
+    "Using an arm, grasp the blue rounded-bottom cup, skirt the shampoo bottle tapered toward cap, and place the blue rounded-bottom cup atop the light gray streaked wooden coaster.",
+    "Pick up the cup with smooth plastic surface, avoid the light blue shampoo bottle small size along the way, and place the cup with smooth plastic surface on the wooden coaster.",
+    "Move the smooth blue drinking cup onto <the coaster made of smooth wood> and ensure the path stays away from <the hand-sized shampoo bottle>.",
+    "Use an arm, take the smooth blue cup for liquids past the shampoo bottle flat bottom edge without nearing it, and rest the smooth blue cup for liquids on the light gray streaked wooden coaster.",
+    "Use an arm to lift the cup with light blue color, keep distance from <the shampoo bottle with matte plastic>, and set the cup with light blue color on <the coaster made of smooth wood>.",
+    "Use an arm: take the cup for holding liquids, avoid the light blue shampoo bottle small size during the move, and drop it on the smooth round palm-sized coaster.",
+    "Use an arm: grab the medium-sized plastic blue cup, avoid the shampoo bottle with white cap on the way, then set the medium-sized plastic blue cup on the coaster with circular shape.",
+    "Use an arm: pick the smooth blue cup for liquids up, skirt <the light blue shampoo bottle small size>, then place the smooth blue cup for liquids onto <the flat round wooden coaster>.",
+    "Use an arm, pick the blue rounded-bottom cup up, pass around the blue shampoo bottle slender design, then place the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "Use an arm, keep the medium-sized plastic blue cup from the shampoo bottle flat bottom edge, and lower the medium-sized plastic blue cup onto the light gray round grainy coaster.",
+    "Take the cup for holding liquids to the light gray streaked wooden coaster while skirting the shampoo bottle tapered toward cap, then release the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Move the blue rounded-bottom cup toward the round coaster with light streaks without passing near the blue shampoo bottle slender design, then set it down.",
+    "Use an arm to move the plastic cup for drinks toward the coaster with circular shape, keeping the plastic cup for drinks clear of the shampoo bottle flat bottom edge.",
+    "Grab the smooth blue cup for liquids, guide it away from the light blue shampoo bottle small size, and set the smooth blue cup for liquids neatly on the smooth round palm-sized coaster.",
+    "Use an arm to take the cup with smooth plastic surface around <the shampoo bottle with white cap> and place the cup with smooth plastic surface on <the coaster made of smooth wood>.",
+    "Using an arm, pick the cup with light blue color up, skirt the shampoo bottle with matte plastic, and place the cup with light blue color on the small coaster with grain texture.",
+    "Take the cylindrical light blue cup, keep its path away from the curved light blue shampoo bottle, and drop the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Using an arm, move the smooth blue cup for liquids to <the flat surface gray wooden coaster> while avoiding <the shampoo bottle with matte plastic>, then release the smooth blue cup for liquids.",
+    "Pick up the smooth blue drinking cup, guide it past the shampoo bottle tapered toward cap, and drop the smooth blue drinking cup on the light gray round grainy coaster.",
+    "Lift the rounded base blue cup, guide it around <the bottle of shampoo>, then put the rounded base blue cup onto <the round coaster>.",
+    "With an arm, move the smooth blue cup for liquids past the light blue shampoo bottle small size and place the smooth blue cup for liquids on the wooden coaster.",
+    "Lift the plastic cup for drinks, pass by the blue shampoo bottle slender design without contact, then place the plastic cup for drinks on the coaster made of smooth wood.",
+    "With an arm, take the medium blue cylindrical cup, avoid the bottle light blue rounded shape, and put the medium blue cylindrical cup on the flat round wooden coaster."
+  ],
+  "unseen": [
+    "Pick up the blue cup, keep clear of the smooth bottle containing shampoo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the oval light blue shampoo container>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container white rounded top, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the oval light blue shampoo container>, and place it on <the light gray coaster>.",
+    "Grab the blue cup, steer it around the smooth bottle containing shampoo, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container white rounded top>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the oval light blue shampoo container>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the smooth bottle containing shampoo, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container white rounded top>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo container white rounded top, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the oval light blue shampoo container, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the oval light blue shampoo container, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the oval light blue shampoo container>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep clear of the oval light blue shampoo container, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo container white rounded top>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the smooth bottle containing shampoo, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo container white rounded top>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the oval light blue shampoo container, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container white rounded top>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the smooth bottle containing shampoo>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth bottle containing shampoo>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo container white rounded top, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the oval light blue shampoo container, and place it on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the oval light blue shampoo container, and place the handheld round blue cup on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the oval light blue shampoo container>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the oval light blue shampoo container, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the oval light blue shampoo container>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the smooth bottle containing shampoo, and set it on the light gray coaster.",
+    "Grab the blue cup, guide it around <the oval light blue shampoo container>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, steer it around the oval light blue shampoo container, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the smooth bottle containing shampoo>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the oval light blue shampoo container>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the smooth bottle containing shampoo>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo container white rounded top, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container white rounded top, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container white rounded top, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the oval light blue shampoo container>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep clear of the smooth bottle containing shampoo, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the oval light blue shampoo container>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container white rounded top, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the oval light blue shampoo container>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the smooth bottle containing shampoo, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the smooth bottle containing shampoo>, and place the small smooth cup on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the smooth bottle containing shampoo>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth bottle containing shampoo>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the smooth bottle containing shampoo, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the smooth bottle containing shampoo, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the oval light blue shampoo container, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo container white rounded top>, then set the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the oval light blue shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, route it around <the oval light blue shampoo container>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the smooth bottle containing shampoo, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the oval light blue shampoo container>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the smooth bottle containing shampoo, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the oval light blue shampoo container>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the blue cup, avoid <the oval light blue shampoo container>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth bottle containing shampoo>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the oval light blue shampoo container, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the smooth bottle containing shampoo, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container white rounded top, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the oval light blue shampoo container>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo container white rounded top, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the smooth bottle containing shampoo, and set it on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo container white rounded top>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, steer it around the shampoo container white rounded top, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container white rounded top>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container white rounded top>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth bottle containing shampoo>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the oval light blue shampoo container, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container white rounded top, and place it on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the oval light blue shampoo container, and place the handheld round blue cup on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo container white rounded top>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container white rounded top, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the oval light blue shampoo container>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the smooth bottle containing shampoo, and set it on the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode81.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode81.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9b0c878a3c9a1b77ae10826e3630cd30925144a
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode81.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Arm-lift the medium-sized plastic blue cup, swing around <the smooth pink plastic shampoo bottle>, then place the medium-sized plastic blue cup onto <the flat round wooden coaster>.",
+    "Pick up the smooth blue drinking cup, keep clear of <the rectangular pink shampoo container>, and drop the smooth blue drinking cup onto <the light gray streaked wooden coaster>.",
+    "Use an arm, take the medium blue cylindrical cup, avoid <the shampoo bottle with shiny pink body> on the way, and set on <the small coaster with grain texture>.",
+    "Use an arm to move the light blue plastic cup toward the round coaster with light streaks, keeping the light blue plastic cup clear of the pink shampoo bottle.",
+    "Lift the cup with smooth plastic surface, arc around the shampoo bottle with shiny pink body, and place the cup with smooth plastic surface squarely on the grainy texture coaster.",
+    "With an arm, move the smooth blue cup for liquids past the hand-sized pink shampoo container and place the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Lift the medium-sized plastic blue cup, keep clear of the pink shampoo bottle, and put the medium-sized plastic blue cup down on the coaster with circular shape.",
+    "Use an arm: grab the plastic cup for drinks, avoid the pink shampoo bottle on the way, then set the plastic cup for drinks on the round coaster with light streaks.",
+    "Use the arm to move the plastic cup for drinks past <the pink bottle with black dispenser> and rest it on <the coaster made of smooth wood>.",
+    "Carry the rounded base blue cup toward <the round coaster>, skirting <the hand-sized pink shampoo container>, and set the rounded base blue cup down.",
+    "With an arm, lift the blue rounded-bottom cup, keep it away from the shampoo bottle with shiny pink body, and drop it onto the round coaster with light streaks.",
+    "Use an arm, keep the cup with smooth plastic surface from the pink shampoo container with pump top, and lower the cup with smooth plastic surface onto the light gray round grainy coaster.",
+    "With an arm, lift the cylindrical light blue cup, avoid the pink shampoo container with pump top, and place the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Take the smooth blue cup for liquids, route it away from the rectangular pink bottle with dispenser, and set the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Use an arm to bring the cup for holding liquids to the small coaster with grain texture, keeping the cup for holding liquids clear of the hand-sized pink shampoo container.",
+    "Use an arm to move the cup with smooth plastic surface around the pink shampoo container with pump top and rest the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the shampoo bottle with rectangular shape, and set the blue rounded-bottom cup onto the flat surface gray wooden coaster.",
+    "Secure the rounded base blue cup, move it around the rectangular pink bottle with dispenser, and place the rounded base blue cup squarely on the grainy texture coaster.",
+    "With an arm, take the rounded base blue cup, avoid the smooth pink plastic shampoo bottle, and put the rounded base blue cup on the light gray round grainy coaster.",
+    "Pick the blue rounded-bottom cup up, route it away from the medium pink bottle for shampoo, and drop the blue rounded-bottom cup onto the grainy texture coaster.",
+    "Lift the cylindrical light blue cup, go around the pink shampoo container with pump top, and position the cylindrical light blue cup squarely on the wooden coaster.",
+    "Use an arm to take the smooth blue cup for liquids around <the shampoo bottle with rectangular shape> and place the smooth blue cup for liquids on <the small coaster with grain texture>.",
+    "Using an arm, carry the rounded base blue cup around the pink bottle with black dispenser and place the rounded base blue cup onto the coaster made of smooth wood.",
+    "Use an arm, pick the plastic cup for drinks up, pass around the pink bottle with black dispenser, then place the plastic cup for drinks on the flat round wooden coaster.",
+    "Take the smooth blue cup for liquids to the round coaster with light streaks while skirting the plastic shampoo bottle with black pump, then release the smooth blue cup for liquids on the round coaster with light streaks.",
+    "Take the smooth blue cup for liquids, guide it away from <the smooth pink plastic shampoo bottle>, and place the smooth blue cup for liquids squarely on <the coaster made of smooth wood>.",
+    "With an arm, lift the blue rounded-bottom cup, route past <the pink shampoo container with pump top>, and drop the blue rounded-bottom cup onto <the round coaster>.",
+    "Use an arm to grab the rounded base blue cup, avoid the shampoo bottle with rectangular shape, and set the rounded base blue cup down on the light gray streaked wooden coaster.",
+    "Move the cup with smooth plastic surface onto <the grainy texture coaster> and ensure the path stays away from <the pink bottle with narrow top>.",
+    "Using an arm, pick the medium blue cylindrical cup up, skirt the pink bottle with narrow top, and place the medium blue cylindrical cup on the flat round wooden coaster.",
+    "Carry the blue rounded-bottom cup toward the wooden coaster, keeping the blue rounded-bottom cup away from the plastic shampoo bottle with black pump, then set down.",
+    "Use an arm to move the cup with light blue color to the round coaster, keeping the cup with light blue color from bumping the shampoo bottle with rectangular shape.",
+    "With an arm, lift the cup with smooth plastic surface, guide it past the rectangular pink bottle with dispenser, and put the cup with smooth plastic surface on the light gray streaked wooden coaster.",
+    "Use an arm to lift the medium blue cylindrical cup, keep distance from <the shampoo bottle with rectangular shape>, and set the medium blue cylindrical cup on <the flat surface gray wooden coaster>.",
+    "Secure the cup with light blue color, keep its path away from the hand-sized pink shampoo container, and set the cup with light blue color on the grainy texture coaster.",
+    "Take the plastic cup for drinks in the arm, route around <the shampoo bottle with shiny pink body>, and set it on <the wooden coaster>.",
+    "With an arm, pick the light blue plastic cup up, bypass <the rectangular pink shampoo container>, then place the light blue plastic cup on <the wooden coaster>.",
+    "Pick up the smooth blue drinking cup, avoid the rectangular pink bottle with dispenser along the way, and place the smooth blue drinking cup on the coaster with circular shape.",
+    "Using an arm, pick the cup with light blue color up, skirt the pink shampoo bottle, and place the cup with light blue color on the wooden coaster.",
+    "Use an arm, take the blue rounded-bottom cup past the shampoo bottle with rectangular shape without nearing it, and rest the blue rounded-bottom cup on the grainy texture coaster.",
+    "Move the cup with light blue color to <the coaster with circular shape> while keeping the cup with light blue color away from <the plastic shampoo bottle with black pump>, then release.",
+    "Use an arm: take the medium blue cylindrical cup, avoid the medium pink bottle for shampoo during the move, and drop it on the grainy texture coaster.",
+    "Move the plastic cup for drinks onto the flat round wooden coaster while avoiding the shampoo bottle with rectangular shape, then let go of the plastic cup for drinks.",
+    "Lift the medium-sized plastic blue cup, guide it past the pink shampoo bottle, and rest the medium-sized plastic blue cup on the grainy texture coaster.",
+    "Using an arm, grasp the cup with smooth plastic surface, skirt the plastic shampoo bottle with black pump, and place the cup with smooth plastic surface atop the light gray streaked wooden coaster.",
+    "Move the blue rounded-bottom cup to the smooth round palm-sized coaster while avoiding the pink bottle with narrow top, then place the blue rounded-bottom cup on the smooth round palm-sized coaster.",
+    "Move the plastic cup for drinks onto the grainy texture coaster while avoiding the pink bottle with black dispenser, then let go of the plastic cup for drinks.",
+    "Use the arm to lift the plastic cup for drinks, pass the pink bottle with narrow top, and place the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Move the cylindrical light blue cup toward the flat round wooden coaster without passing near the pink shampoo bottle, then set it down.",
+    "Using an arm, carry the blue rounded-bottom cup past <the pink bottle with black dispenser> and place the blue rounded-bottom cup squarely on <the flat round wooden coaster>.",
+    "Carry the plastic cup for drinks toward <the light gray round grainy coaster>, keeping the path clear of <the rectangular pink bottle with dispenser>, then set down.",
+    "Take the smooth blue cup for liquids, arc around <the pink bottle with black dispenser>, and place the smooth blue cup for liquids neatly on <the coaster with circular shape>.",
+    "Lift the cup with smooth plastic surface, route it away from the smooth pink plastic shampoo bottle, then put the cup with smooth plastic surface squarely on the flat round wooden coaster.",
+    "Pick up the medium-sized plastic blue cup, guide it past the hand-sized pink shampoo container, and drop the medium-sized plastic blue cup on the light gray streaked wooden coaster.",
+    "Lift the blue rounded-bottom cup, carry it around the shampoo bottle with shiny pink body, and place the blue rounded-bottom cup squarely on the flat surface gray wooden coaster.",
+    "Using an arm, move the cup with smooth plastic surface to <the round coaster> while avoiding <the hand-sized pink shampoo container>, then release the cup with smooth plastic surface.",
+    "Use an arm: pick the medium blue cylindrical cup up, skirt <the rectangular pink shampoo container>, then place the medium blue cylindrical cup onto <the light gray round grainy coaster>.",
+    "Grab the medium blue cylindrical cup, route around the shampoo bottle with shiny pink body, then lower the medium blue cylindrical cup onto the grainy texture coaster.",
+    "Guide the blue rounded-bottom cup with the arm around <the pink shampoo bottle> and onto <the small coaster with grain texture>.",
+    "With an arm, bring the cylindrical light blue cup over to <the grainy texture coaster> and keep clear of <the rectangular pink shampoo container>.",
+    "Take the rounded base blue cup, keep its path away from the rectangular pink bottle with dispenser, and drop the rounded base blue cup on the light gray round grainy coaster.",
+    "Lift the cup for holding liquids, pass beside <the medium pink bottle for shampoo> without contact, then place the cup for holding liquids onto <the smooth round palm-sized coaster>.",
+    "Use an arm: grasp the smooth blue cup for liquids, avoid <the rectangular pink bottle with dispenser>, and place the smooth blue cup for liquids on <the flat round wooden coaster>.",
+    "Carry the smooth blue drinking cup toward <the wooden coaster>, keeping clear of <the shampoo bottle with shiny pink body>, and set the smooth blue drinking cup down.",
+    "Take the medium-sized plastic blue cup, keep its path away from the pink bottle with black dispenser, and place the medium-sized plastic blue cup on the wooden coaster.",
+    "Move the rounded base blue cup to the light gray round grainy coaster without crossing the rectangular pink shampoo container, then release the rounded base blue cup.",
+    "With an arm, lift the blue rounded-bottom cup, avoid <the hand-sized pink shampoo container> on the way, and drop the blue rounded-bottom cup on <the round coaster with light streaks>.",
+    "Pick up the smooth blue cup for liquids, route it away from the smooth pink plastic shampoo bottle, then set the smooth blue cup for liquids on the grainy texture coaster.",
+    "Lift the medium blue cylindrical cup, guide it around <the shampoo bottle with shiny pink body>, then put the medium blue cylindrical cup onto <the coaster with circular shape>.",
+    "Grab the cup with smooth plastic surface, swing it away from <the pink shampoo bottle>, and place the cup with smooth plastic surface on <the coaster with circular shape>.",
+    "Lift the cup with light blue color, pass by the shampoo bottle with shiny pink body without contact, then place the cup with light blue color on the coaster made of smooth wood.",
+    "Slide the blue rounded-bottom cup over to <the round coaster with light streaks> without passing near <the hand-sized pink shampoo container>.",
+    "Take the cup with light blue color, swing wide of the pink bottle with narrow top, then rest the cup with light blue color on the round coaster.",
+    "Use an arm to lift the light blue plastic cup, arc around the pink bottle with black dispenser, and place the light blue plastic cup atop the flat round wooden coaster.",
+    "Grab the cylindrical light blue cup, guide it away from the shampoo bottle with shiny pink body, and set the cylindrical light blue cup neatly on the round coaster.",
+    "Use the arm to carry the cup with smooth plastic surface around the pink bottle with narrow top, then rest the cup with smooth plastic surface on the round coaster with light streaks.",
+    "Lift the rounded base blue cup, steer away from <the rectangular pink bottle with dispenser>, then place the rounded base blue cup on <the coaster with circular shape>.",
+    "Slide the medium blue cylindrical cup toward the wooden coaster, detouring around the hand-sized pink shampoo container, then set the medium blue cylindrical cup down.",
+    "Pick up the light blue plastic cup, keep its path away from <the pink shampoo bottle>, and set the light blue plastic cup on <the round coaster with light streaks>.",
+    "Move the smooth blue cup for liquids to <the wooden coaster> while keeping its path away from <the pink shampoo container with pump top>.",
+    "Arm-lift the smooth blue drinking cup, swing around <the rectangular pink bottle with dispenser>, then place the smooth blue drinking cup onto <the coaster made of smooth wood>.",
+    "Pick up the smooth blue drinking cup, keep clear of <the medium pink bottle for shampoo>, and drop the smooth blue drinking cup onto <the smooth round palm-sized coaster>.",
+    "Use an arm, take the medium-sized plastic blue cup, avoid <the pink shampoo bottle> on the way, and set on <the smooth round palm-sized coaster>.",
+    "Use an arm to move the medium blue cylindrical cup toward the grainy texture coaster, keeping the medium blue cylindrical cup clear of the hand-sized pink shampoo container.",
+    "Lift the smooth blue cup for liquids, arc around the plastic shampoo bottle with black pump, and place the smooth blue cup for liquids squarely on the light gray streaked wooden coaster.",
+    "With an arm, move the light blue plastic cup past the shampoo bottle with rectangular shape and place the light blue plastic cup on the round coaster.",
+    "Lift the cup for holding liquids, keep clear of the hand-sized pink shampoo container, and put the cup for holding liquids down on the round coaster.",
+    "Use an arm: grab the plastic cup for drinks, avoid the shampoo bottle with shiny pink body on the way, then set the plastic cup for drinks on the flat round wooden coaster.",
+    "Use the arm to move the medium-sized plastic blue cup past <the pink bottle with narrow top> and rest it on <the coaster with circular shape>.",
+    "Carry the plastic cup for drinks toward <the light gray round grainy coaster>, skirting <the rectangular pink bottle with dispenser>, and set the plastic cup for drinks down.",
+    "With an arm, lift the plastic cup for drinks, keep it away from the shampoo bottle with shiny pink body, and drop it onto the grainy texture coaster.",
+    "Use an arm, keep the cup for holding liquids from the hand-sized pink shampoo container, and lower the cup for holding liquids onto the flat round wooden coaster.",
+    "With an arm, lift the cup for holding liquids, avoid the pink shampoo bottle, and place the cup for holding liquids on the wooden coaster.",
+    "Take the smooth blue cup for liquids, route it away from the shampoo bottle with shiny pink body, and set the smooth blue cup for liquids onto the coaster with circular shape.",
+    "Use an arm to bring the cup with smooth plastic surface to the wooden coaster, keeping the cup with smooth plastic surface clear of the shampoo bottle with shiny pink body.",
+    "Use an arm to move the smooth blue drinking cup around the pink shampoo bottle and rest the smooth blue drinking cup on the coaster with circular shape.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid the smooth pink plastic shampoo bottle, and set the medium-sized plastic blue cup onto the coaster with circular shape.",
+    "Secure the cylindrical light blue cup, move it around the plastic shampoo bottle with black pump, and place the cylindrical light blue cup squarely on the round coaster.",
+    "With an arm, take the smooth blue cup for liquids, avoid the hand-sized pink shampoo container, and put the smooth blue cup for liquids on the round coaster.",
+    "Pick the blue rounded-bottom cup up, route it away from the pink bottle with narrow top, and drop the blue rounded-bottom cup onto the wooden coaster."
+  ],
+  "unseen": [
+    "Use an arm to grab the blue cup, steer around <the plastic pink shampoo bottle>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the plastic pink shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with black pump, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the plastic pink shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the glossy pink shampoo bottle, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the glossy pink shampoo bottle, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the plastic pink shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with black pump>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle with black pump, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the glossy pink shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the plastic pink shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the plastic pink shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the glossy pink shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with black pump>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the plastic pink shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the glossy pink shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with black pump, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the plastic pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the plastic pink shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the glossy pink shampoo bottle, and place the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the glossy pink shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the plastic pink shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the plastic pink shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the plastic pink shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with black pump, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the plastic pink shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the glossy pink shampoo bottle, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with black pump>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, guide it around <the plastic pink shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the glossy pink shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with black pump, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with black pump, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with black pump, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the glossy pink shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the glossy pink shampoo bottle, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the plastic pink shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Grab the blue cup, route it around <the glossy pink shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the plastic pink shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the glossy pink shampoo bottle, and set it on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the glossy pink shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with black pump, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the plastic pink shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the shampoo bottle with black pump, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the glossy pink shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, guide it around <the plastic pink shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with black pump>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with black pump, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with black pump, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with black pump, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the plastic pink shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the glossy pink shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the glossy pink shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the plastic pink shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the plastic pink shampoo bottle, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with black pump, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the glossy pink shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the plastic pink shampoo bottle, then set the blue cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the glossy pink shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the plastic pink shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around <the shampoo bottle with black pump>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the glossy pink shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the glossy pink shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the glossy pink shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the plastic pink shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the plastic pink shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the glossy pink shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the plastic pink shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the glossy pink shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the glossy pink shampoo bottle, and set it on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the glossy pink shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the glossy pink shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the plastic pink shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, steer it around the plastic pink shampoo bottle, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the glossy pink shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the plastic pink shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the plastic pink shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the glossy pink shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with black pump, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the plastic pink shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the glossy pink shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the glossy pink shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the glossy pink shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with black pump>, then place the small smooth cup onto <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the glossy pink shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle with black pump, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with black pump, then place the blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the glossy pink shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the plastic pink shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the plastic pink shampoo bottle, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the plastic pink shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with black pump>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the plastic pink shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the glossy pink shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with black pump, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the glossy pink shampoo bottle, and place it on the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode82.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode82.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f3d87eb59ea846ff34ee4ec4e66a0a9bae49a16
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode82.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the cup for holding liquids to <the smooth round palm-sized coaster> while keeping the cup for holding liquids away from <the medium shampoo container>, then release.",
+    "Use an arm: grasp the cup for holding liquids, avoid <the bottle for shampoo with glossy finish>, and place the cup for holding liquids on <the coaster made of smooth wood>.",
+    "Lift the light blue plastic cup, guide it around <the bottle with yellow cap>, then put the light blue plastic cup onto <the round coaster with light streaks>.",
+    "Use an arm, keep the light blue plastic cup from the shampoo bottle with rectangular base, and lower the light blue plastic cup onto the light gray round grainy coaster.",
+    "Grab the medium blue cylindrical cup, route around the bottle with yellow cap, then lower the medium blue cylindrical cup onto the wooden coaster.",
+    "Pick up the medium-sized plastic blue cup, route it away from the shampoo bottle with rectangular base, then set the medium-sized plastic blue cup on the round coaster with light streaks.",
+    "Lift the medium blue cylindrical cup, guide it past the shampoo bottle, and rest the medium blue cylindrical cup on the round coaster.",
+    "With an arm, bring the smooth blue cup for liquids over to <the light gray streaked wooden coaster> and keep clear of <the shampoo bottle with rectangular base>.",
+    "Grab the cup with smooth plastic surface, guide it away from the shampoo bottle with rectangular base, and set the cup with smooth plastic surface neatly on the grainy texture coaster.",
+    "Move the light blue plastic cup to the light gray streaked wooden coaster while avoiding the white shampoo bottle, then place the light blue plastic cup on the light gray streaked wooden coaster.",
+    "Take the plastic cup for drinks, keep its path away from the bottle with yellow cap, and drop the plastic cup for drinks on the flat round wooden coaster.",
+    "Arm-lift the light blue plastic cup, swing around <the white bottle with golden accents>, then place the light blue plastic cup onto <the smooth round palm-sized coaster>.",
+    "Secure the light blue plastic cup, move it around the rectangular shampoo bottle with rounded top, and place the light blue plastic cup squarely on the flat round wooden coaster.",
+    "With an arm, lift the light blue plastic cup, avoid <the white shampoo bottle with golden top> on the way, and drop the light blue plastic cup on <the light gray streaked wooden coaster>.",
+    "Use an arm to bring the smooth blue drinking cup to the wooden coaster, keeping the smooth blue drinking cup clear of the shampoo bottle with rectangular base.",
+    "Using an arm, move the rounded base blue cup to <the smooth round palm-sized coaster> while avoiding <the white shampoo bottle>, then release the rounded base blue cup.",
+    "Use an arm, take the cup for holding liquids, avoid <the shampoo bottle with rectangular base> on the way, and set on <the coaster with circular shape>.",
+    "With an arm, lift the medium blue cylindrical cup, avoid the smooth shampoo container, and set the medium blue cylindrical cup onto the smooth round palm-sized coaster.",
+    "With an arm, lift the smooth blue cup for liquids, route past <the shampoo bottle>, and drop the smooth blue cup for liquids onto <the light gray streaked wooden coaster>.",
+    "Using an arm, carry the medium blue cylindrical cup around the shampoo bottle and place the medium blue cylindrical cup onto the wooden coaster.",
+    "Lift the cup for holding liquids, route it away from the white bottle with golden accents, then put the cup for holding liquids squarely on the round coaster.",
+    "With an arm, pick the blue rounded-bottom cup up, bypass <the medium shampoo container>, then place the blue rounded-bottom cup on <the grainy texture coaster>.",
+    "Pick the rounded base blue cup up, route it away from the plastic shampoo bottle with smooth surface, and drop the rounded base blue cup onto the light gray streaked wooden coaster.",
+    "Use an arm to move the cup with light blue color to the small coaster with grain texture, keeping the cup with light blue color from bumping the bottle for shampoo with glossy finish.",
+    "Move the cup with light blue color toward the flat round wooden coaster without passing near the white bottle with golden accents, then set it down.",
+    "With an arm, lift the plastic cup for drinks, guide it past the plastic shampoo bottle with smooth surface, and put the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "With an arm, move the plastic cup for drinks past the bottle with yellow cap and place the plastic cup for drinks on the flat round wooden coaster.",
+    "Secure the cup with light blue color, keep its path away from the shampoo bottle with rectangular base, and set the cup with light blue color on the small coaster with grain texture.",
+    "Use an arm, pick the cup for holding liquids up, pass around the white shampoo bottle, then place the cup for holding liquids on the wooden coaster.",
+    "Lift the cup with smooth plastic surface, steer away from <the white bottle with golden accents>, then place the cup with smooth plastic surface on <the wooden coaster>.",
+    "Move the medium-sized plastic blue cup onto <the small coaster with grain texture> and ensure the path stays away from <the shampoo bottle>.",
+    "Pick up the blue rounded-bottom cup, guide it past the smooth shampoo container, and drop the blue rounded-bottom cup on the grainy texture coaster.",
+    "Using an arm, pick the rounded base blue cup up, skirt the white shampoo bottle, and place the rounded base blue cup on the round coaster with light streaks.",
+    "Use the arm to carry the medium-sized plastic blue cup around the white shampoo bottle, then rest the medium-sized plastic blue cup on the small coaster with grain texture.",
+    "Move the rounded base blue cup to <the small coaster with grain texture> while keeping its path away from <the shampoo bottle>.",
+    "Move the medium blue cylindrical cup to the round coaster with light streaks without crossing the shampoo bottle, then release the medium blue cylindrical cup.",
+    "Slide the cup with smooth plastic surface toward the flat round wooden coaster, detouring around the bottle with yellow cap, then set the cup with smooth plastic surface down.",
+    "Carry the cylindrical light blue cup toward the round coaster, keeping the cylindrical light blue cup away from the bottle with yellow cap, then set down.",
+    "Use an arm: take the cylindrical light blue cup, avoid the rectangular shampoo bottle with rounded top during the move, and drop it on the small coaster with grain texture.",
+    "Pick up the cup for holding liquids, avoid the white shampoo bottle with golden top along the way, and place the cup for holding liquids on the small coaster with grain texture.",
+    "Guide the plastic cup for drinks with the arm around <the shampoo bottle> and onto <the grainy texture coaster>.",
+    "Slide the cylindrical light blue cup over to <the light gray round grainy coaster> without passing near <the smooth shampoo container>.",
+    "Lift the smooth blue cup for liquids, pass by the medium shampoo container without contact, then place the smooth blue cup for liquids on the round coaster.",
+    "Lift the medium-sized plastic blue cup, keep clear of the white shampoo bottle with golden top, and put the medium-sized plastic blue cup down on the wooden coaster.",
+    "Use the arm to move the rounded base blue cup past <the white shampoo bottle with golden top> and rest it on <the coaster with circular shape>.",
+    "Lift the cylindrical light blue cup, carry it around the medium shampoo container, and place the cylindrical light blue cup squarely on the round coaster with light streaks.",
+    "Take the medium-sized plastic blue cup, keep its path away from the white shampoo bottle with golden top, and place the medium-sized plastic blue cup on the flat round wooden coaster.",
+    "Use an arm: pick the rounded base blue cup up, skirt <the white bottle with golden accents>, then place the rounded base blue cup onto <the flat round wooden coaster>.",
+    "Use an arm to take the smooth blue cup for liquids around <the smooth shampoo container> and place the smooth blue cup for liquids on <the light gray streaked wooden coaster>.",
+    "Take the cup with light blue color, arc around <the rectangular shampoo bottle with rounded top>, and place the cup with light blue color neatly on <the light gray round grainy coaster>.",
+    "Use an arm to lift the smooth blue cup for liquids, arc around the rectangular shampoo bottle with rounded top, and place the smooth blue cup for liquids atop the small coaster with grain texture.",
+    "Take the cup with light blue color to the smooth round palm-sized coaster while skirting the medium shampoo container, then release the cup with light blue color on the smooth round palm-sized coaster.",
+    "Lift the medium blue cylindrical cup, go around the shampoo bottle with rectangular base, and position the medium blue cylindrical cup squarely on the coaster made of smooth wood.",
+    "Use an arm to move the smooth blue drinking cup toward the round coaster, keeping the smooth blue drinking cup clear of the medium shampoo container.",
+    "Pick up the plastic cup for drinks, keep its path away from <the bottle with yellow cap>, and set the plastic cup for drinks on <the coaster with circular shape>.",
+    "Carry the rounded base blue cup toward <the flat surface gray wooden coaster>, skirting <the rectangular shampoo bottle with rounded top>, and set the rounded base blue cup down.",
+    "Use the arm to lift the medium blue cylindrical cup, pass the bottle for shampoo with glossy finish, and place the medium blue cylindrical cup on the wooden coaster.",
+    "Use an arm: grab the medium-sized plastic blue cup, avoid the rectangular shampoo bottle with rounded top on the way, then set the medium-sized plastic blue cup on the wooden coaster.",
+    "Take the smooth blue drinking cup in the arm, route around <the bottle with yellow cap>, and set it on <the flat round wooden coaster>.",
+    "Lift the light blue plastic cup, pass beside <the white shampoo bottle> without contact, then place the light blue plastic cup onto <the smooth round palm-sized coaster>.",
+    "Take the medium blue cylindrical cup, guide it away from <the smooth shampoo container>, and place the medium blue cylindrical cup squarely on <the round coaster>.",
+    "Pick up the cylindrical light blue cup, keep clear of <the plastic shampoo bottle with smooth surface>, and drop the cylindrical light blue cup onto <the round coaster>.",
+    "With an arm, take the light blue plastic cup, avoid the bottle with yellow cap, and put the light blue plastic cup on the round coaster with light streaks.",
+    "Using an arm, pick the rounded base blue cup up, skirt the shampoo bottle, and place the rounded base blue cup on the wooden coaster.",
+    "Use an arm to lift the smooth blue drinking cup, keep distance from <the white bottle with golden accents>, and set the smooth blue drinking cup on <the coaster with circular shape>.",
+    "Use an arm, take the smooth blue drinking cup past the white bottle with golden accents without nearing it, and rest the smooth blue drinking cup on the wooden coaster.",
+    "Take the cylindrical light blue cup, swing wide of the bottle for shampoo with glossy finish, then rest the cylindrical light blue cup on the flat surface gray wooden coaster.",
+    "Lift the light blue plastic cup, arc around the hand-held shampoo bottle, and place the light blue plastic cup squarely on the flat round wooden coaster.",
+    "Move the light blue plastic cup onto the coaster made of smooth wood while avoiding the hand-held shampoo bottle, then let go of the light blue plastic cup.",
+    "Using an arm, carry the cylindrical light blue cup past <the medium shampoo container> and place the cylindrical light blue cup squarely on <the wooden coaster>.",
+    "With an arm, lift the light blue plastic cup, keep it away from the rectangular shampoo bottle with rounded top, and drop it onto the flat round wooden coaster.",
+    "Move the cup with light blue color onto the coaster with circular shape while avoiding the bottle with yellow cap, then let go of the cup with light blue color.",
+    "Carry the cup for holding liquids toward <the light gray round grainy coaster>, keeping clear of <the white bottle with golden accents>, and set the cup for holding liquids down.",
+    "Use an arm to grab the medium-sized plastic blue cup, avoid the plastic shampoo bottle with smooth surface, and set the medium-sized plastic blue cup down on the small coaster with grain texture.",
+    "Grab the light blue plastic cup, swing it away from <the shampoo bottle>, and place the light blue plastic cup on <the coaster made of smooth wood>.",
+    "Use an arm to move the cup with light blue color around the white shampoo bottle with golden top and rest the cup with light blue color on the flat surface gray wooden coaster.",
+    "Take the plastic cup for drinks, route it away from the smooth shampoo container, and set the plastic cup for drinks onto the small coaster with grain texture.",
+    "Carry the smooth blue cup for liquids toward <the wooden coaster>, keeping the path clear of <the bottle for shampoo with glossy finish>, then set down.",
+    "Using an arm, grasp the blue rounded-bottom cup, skirt the bottle for shampoo with glossy finish, and place the blue rounded-bottom cup atop the flat surface gray wooden coaster.",
+    "With an arm, lift the cup for holding liquids, avoid the rectangular shampoo bottle with rounded top, and place the cup for holding liquids on the flat round wooden coaster.",
+    "Move the cup with light blue color to <the grainy texture coaster> while keeping the cup with light blue color away from <the plastic shampoo bottle with smooth surface>, then release.",
+    "Use an arm: grasp the cylindrical light blue cup, avoid <the shampoo bottle with rectangular base>, and place the cylindrical light blue cup on <the coaster with circular shape>.",
+    "Lift the blue rounded-bottom cup, guide it around <the bottle with yellow cap>, then put the blue rounded-bottom cup onto <the smooth round palm-sized coaster>.",
+    "Use an arm, keep the smooth blue drinking cup from the shampoo bottle, and lower the smooth blue drinking cup onto the round coaster.",
+    "Grab the smooth blue cup for liquids, route around the hand-held shampoo bottle, then lower the smooth blue cup for liquids onto the wooden coaster.",
+    "Pick up the smooth blue drinking cup, route it away from the shampoo bottle with rectangular base, then set the smooth blue drinking cup on the flat surface gray wooden coaster.",
+    "Lift the cylindrical light blue cup, guide it past the white bottle with golden accents, and rest the cylindrical light blue cup on the flat round wooden coaster.",
+    "With an arm, bring the plastic cup for drinks over to <the round coaster> and keep clear of <the rectangular shampoo bottle with rounded top>.",
+    "Grab the rounded base blue cup, guide it away from the bottle with yellow cap, and set the rounded base blue cup neatly on the round coaster with light streaks.",
+    "Move the cup for holding liquids to the flat round wooden coaster while avoiding the rectangular shampoo bottle with rounded top, then place the cup for holding liquids on the flat round wooden coaster.",
+    "Take the medium blue cylindrical cup, keep its path away from the hand-held shampoo bottle, and drop the medium blue cylindrical cup on the coaster made of smooth wood.",
+    "Arm-lift the smooth blue cup for liquids, swing around <the shampoo bottle with rectangular base>, then place the smooth blue cup for liquids onto <the flat round wooden coaster>.",
+    "Secure the smooth blue drinking cup, move it around the smooth shampoo container, and place the smooth blue drinking cup squarely on the small coaster with grain texture.",
+    "With an arm, lift the medium blue cylindrical cup, avoid <the plastic shampoo bottle with smooth surface> on the way, and drop the medium blue cylindrical cup on <the wooden coaster>.",
+    "Use an arm to bring the rounded base blue cup to the round coaster with light streaks, keeping the rounded base blue cup clear of the white shampoo bottle.",
+    "Using an arm, move the medium blue cylindrical cup to <the flat round wooden coaster> while avoiding <the white shampoo bottle>, then release the medium blue cylindrical cup.",
+    "Use an arm, take the smooth blue drinking cup, avoid <the bottle for shampoo with glossy finish> on the way, and set on <the light gray streaked wooden coaster>.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid the bottle with yellow cap, and set the medium-sized plastic blue cup onto the flat round wooden coaster.",
+    "With an arm, lift the smooth blue drinking cup, route past <the rectangular shampoo bottle with rounded top>, and drop the smooth blue drinking cup onto <the grainy texture coaster>.",
+    "Using an arm, carry the cylindrical light blue cup around the smooth shampoo container and place the cylindrical light blue cup onto the light gray round grainy coaster."
+  ],
+  "unseen": [
+    "Use an arm to grab the handheld round blue cup, steer around <the medium-sized shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with rounded yellow cap>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white plastic shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white plastic shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the medium-sized shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the white plastic shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the white plastic shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white plastic shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white plastic shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the white plastic shampoo bottle, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white plastic shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, route it around <the medium-sized shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the medium-sized shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the white plastic shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the white plastic shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the white plastic shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with rounded yellow cap, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the medium-sized shampoo bottle, and set it on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with rounded yellow cap, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the medium-sized shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the medium-sized shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the medium-sized shampoo bottle, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the white plastic shampoo bottle>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, route it around <the medium-sized shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with rounded yellow cap, then set the small smooth cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the medium-sized shampoo bottle>, and place it on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white plastic shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the medium-sized shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the medium-sized shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the medium-sized shampoo bottle, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white plastic shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white plastic shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the white plastic shampoo bottle, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with rounded yellow cap>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the white plastic shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the medium-sized shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the white plastic shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the medium-sized shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the medium-sized shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the medium-sized shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the white plastic shampoo bottle, and set it on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the white plastic shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the white plastic shampoo bottle, and place the small smooth cup on the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the medium-sized shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the medium-sized shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with rounded yellow cap>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the white plastic shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the white plastic shampoo bottle, then set the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the white plastic shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the white plastic shampoo bottle, and set it on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the white plastic shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the medium-sized shampoo bottle, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with rounded yellow cap, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the shampoo bottle with rounded yellow cap, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with rounded yellow cap>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the white plastic shampoo bottle>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, steer it around the medium-sized shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white plastic shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the medium-sized shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the medium-sized shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the medium-sized shampoo bottle, and set it on the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the white plastic shampoo bottle, and place the small smooth cup on the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the white plastic shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the white plastic shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the medium-sized shampoo bottle>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, steer it around the white plastic shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the white plastic shampoo bottle>, then set the small smooth cup on <the light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode83.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode83.json
new file mode 100644
index 0000000000000000000000000000000000000000..a92216020402fc305534a310ee0813a46c7da9b1
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode83.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With an arm, lift the cylindrical light blue cup, avoid <the bottle of shampoo> on the way, and drop the cylindrical light blue cup on <the flat round wooden coaster>.",
+    "Use an arm to grab the cup for holding liquids, avoid the blue shampoo bottle slender design, and set the cup for holding liquids down on the round coaster with light streaks.",
+    "Lift the plastic cup for drinks, pass beside <the shampoo bottle with white cap> without contact, then place the plastic cup for drinks onto <the smooth round palm-sized coaster>.",
+    "With an arm, move the cylindrical light blue cup past the bottle light blue rounded shape and place the cylindrical light blue cup on the flat surface gray wooden coaster.",
+    "Pick up the smooth blue cup for liquids, avoid the small smooth shampoo bottle along the way, and place the smooth blue cup for liquids on the coaster with circular shape.",
+    "With an arm, lift the medium blue cylindrical cup, route past <the shampoo bottle tapered toward cap>, and drop the medium blue cylindrical cup onto <the flat round wooden coaster>.",
+    "Take the cylindrical light blue cup, route it away from the hand-sized shampoo bottle, and set the cylindrical light blue cup onto the flat round wooden coaster.",
+    "Lift the medium-sized plastic blue cup, guide it around <the shampoo bottle with matte plastic>, then put the medium-sized plastic blue cup onto <the small coaster with grain texture>.",
+    "Pick the medium blue cylindrical cup up, route it away from the small smooth shampoo bottle, and drop the medium blue cylindrical cup onto the round coaster.",
+    "With an arm, lift the medium-sized plastic blue cup, keep it away from the shampoo bottle tapered toward cap, and drop it onto the coaster made of smooth wood.",
+    "Use an arm: take the rounded base blue cup, avoid the blue shampoo bottle slender design during the move, and drop it on the flat surface gray wooden coaster.",
+    "Use an arm, keep the smooth blue drinking cup from the shampoo bottle flat bottom edge, and lower the smooth blue drinking cup onto the small coaster with grain texture.",
+    "Take the plastic cup for drinks, guide it away from <the shampoo bottle with matte plastic>, and place the plastic cup for drinks squarely on <the coaster made of smooth wood>.",
+    "Secure the medium blue cylindrical cup, keep its path away from the shampoo bottle with white cap, and set the medium blue cylindrical cup on the coaster with circular shape.",
+    "Use an arm: pick the cylindrical light blue cup up, skirt <the shampoo bottle with white cap>, then place the cylindrical light blue cup onto <the wooden coaster>.",
+    "Using an arm, move the cup with smooth plastic surface to <the wooden coaster> while avoiding <the bottle of shampoo>, then release the cup with smooth plastic surface.",
+    "Lift the cup with smooth plastic surface, route it away from the small smooth shampoo bottle, then put the cup with smooth plastic surface squarely on the light gray streaked wooden coaster.",
+    "With an arm, take the blue rounded-bottom cup, avoid the shampoo bottle tapered toward cap, and put the blue rounded-bottom cup on the small coaster with grain texture.",
+    "Take the cup with smooth plastic surface, keep its path away from the bottle light blue rounded shape, and drop the cup with smooth plastic surface on the coaster with circular shape.",
+    "Use an arm: grab the blue rounded-bottom cup, avoid the bottle light blue rounded shape on the way, then set the blue rounded-bottom cup on the grainy texture coaster.",
+    "Pick up the smooth blue cup for liquids, guide it past the bottle of shampoo, and drop the smooth blue cup for liquids on the flat round wooden coaster.",
+    "With an arm, bring the rounded base blue cup over to <the flat round wooden coaster> and keep clear of <the blue shampoo bottle slender design>.",
+    "Carry the light blue plastic cup toward <the coaster made of smooth wood>, skirting <the curved light blue shampoo bottle>, and set the light blue plastic cup down.",
+    "Carry the cylindrical light blue cup toward <the coaster with circular shape>, keeping the path clear of <the blue shampoo bottle slender design>, then set down.",
+    "Use an arm, take the cylindrical light blue cup past the small smooth shampoo bottle without nearing it, and rest the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Using an arm, pick the cup with smooth plastic surface up, skirt the shampoo bottle with matte plastic, and place the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Move the medium-sized plastic blue cup onto <the coaster with circular shape> and ensure the path stays away from <the bottle of shampoo>.",
+    "Use the arm to lift the medium blue cylindrical cup, pass the shampoo bottle tapered toward cap, and place the medium blue cylindrical cup on the flat round wooden coaster.",
+    "Use an arm to lift the cylindrical light blue cup, arc around the light blue shampoo bottle small size, and place the cylindrical light blue cup atop the coaster made of smooth wood.",
+    "Using an arm, carry the medium blue cylindrical cup around the small smooth shampoo bottle and place the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Lift the light blue plastic cup, go around the hand-sized shampoo bottle, and position the light blue plastic cup squarely on the light gray round grainy coaster.",
+    "Using an arm, carry the rounded base blue cup past <the shampoo bottle with white cap> and place the rounded base blue cup squarely on <the light gray streaked wooden coaster>.",
+    "Move the light blue plastic cup onto the light gray round grainy coaster while avoiding the small smooth shampoo bottle, then let go of the light blue plastic cup.",
+    "Use an arm, take the cup with light blue color, avoid <the light blue shampoo bottle small size> on the way, and set on <the round coaster>.",
+    "Using an arm, grasp the medium-sized plastic blue cup, skirt the bottle of shampoo, and place the medium-sized plastic blue cup atop the round coaster with light streaks.",
+    "Pick up the rounded base blue cup, keep its path away from <the hand-sized shampoo bottle>, and set the rounded base blue cup on <the grainy texture coaster>.",
+    "Move the rounded base blue cup toward the small coaster with grain texture without passing near the light blue shampoo bottle small size, then set it down.",
+    "Use an arm to move the cup with smooth plastic surface to the light gray round grainy coaster, keeping the cup with smooth plastic surface from bumping the shampoo bottle flat bottom edge.",
+    "Pick up the cylindrical light blue cup, keep clear of <the small smooth shampoo bottle>, and drop the cylindrical light blue cup onto <the wooden coaster>.",
+    "Lift the cup with light blue color, steer away from <the light blue shampoo bottle small size>, then place the cup with light blue color on <the small coaster with grain texture>.",
+    "Use an arm to bring the plastic cup for drinks to the round coaster with light streaks, keeping the plastic cup for drinks clear of the blue shampoo bottle slender design.",
+    "Use an arm: grasp the cup with smooth plastic surface, avoid <the blue shampoo bottle slender design>, and place the cup with smooth plastic surface on <the light gray round grainy coaster>.",
+    "Take the cup with light blue color, keep its path away from the bottle light blue rounded shape, and place the cup with light blue color on the grainy texture coaster.",
+    "With an arm, pick the cup for holding liquids up, bypass <the bottle light blue rounded shape>, then place the cup for holding liquids on <the light gray round grainy coaster>.",
+    "Use an arm to lift the plastic cup for drinks, keep distance from <the blue shampoo bottle slender design>, and set the plastic cup for drinks on <the light gray round grainy coaster>.",
+    "Take the light blue plastic cup in the arm, route around <the shampoo bottle tapered toward cap>, and set it on <the flat round wooden coaster>.",
+    "Arm-lift the cylindrical light blue cup, swing around <the shampoo bottle tapered toward cap>, then place the cylindrical light blue cup onto <the round coaster>.",
+    "Move the rounded base blue cup to the small coaster with grain texture without crossing the shampoo bottle with white cap, then release the rounded base blue cup.",
+    "Use an arm, pick the cup with light blue color up, pass around the shampoo bottle with white cap, then place the cup with light blue color on the coaster with circular shape.",
+    "Take the medium-sized plastic blue cup, swing wide of the shampoo bottle with white cap, then rest the medium-sized plastic blue cup on the flat round wooden coaster.",
+    "Secure the cup with light blue color, move it around the shampoo bottle with matte plastic, and place the cup with light blue color squarely on the round coaster.",
+    "Move the cup with smooth plastic surface to <the light gray streaked wooden coaster> while keeping its path away from <the blue shampoo bottle slender design>.",
+    "Take the smooth blue cup for liquids, arc around <the blue shampoo bottle slender design>, and place the smooth blue cup for liquids neatly on <the small coaster with grain texture>.",
+    "Use the arm to carry the medium-sized plastic blue cup around the blue shampoo bottle, then rest the medium-sized plastic blue cup on the grainy texture coaster.",
+    "Use an arm to take the cup with smooth plastic surface around <the blue shampoo bottle slender design> and place the cup with smooth plastic surface on <the light gray streaked wooden coaster>.",
+    "Lift the rounded base blue cup, arc around the shampoo bottle with white cap, and place the rounded base blue cup squarely on the flat round wooden coaster.",
+    "Lift the cup with light blue color, guide it past the blue shampoo bottle, and rest the cup with light blue color on the light gray streaked wooden coaster.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the shampoo bottle with matte plastic, and place the blue rounded-bottom cup on the small coaster with grain texture.",
+    "Slide the plastic cup for drinks toward the flat surface gray wooden coaster, detouring around the small smooth shampoo bottle, then set the plastic cup for drinks down.",
+    "Carry the cup with light blue color toward the flat round wooden coaster, keeping the cup with light blue color away from the blue shampoo bottle, then set down.",
+    "Using an arm, pick the light blue plastic cup up, skirt the curved light blue shampoo bottle, and place the light blue plastic cup on the wooden coaster.",
+    "Move the cup for holding liquids to the coaster with circular shape while avoiding the curved light blue shampoo bottle, then place the cup for holding liquids on the coaster with circular shape.",
+    "Lift the cup with light blue color, keep clear of the light blue shampoo bottle small size, and put the cup with light blue color down on the round coaster.",
+    "Lift the cup with light blue color, pass by the small smooth shampoo bottle without contact, then place the cup with light blue color on the grainy texture coaster.",
+    "Pick up the cup with light blue color, route it away from the light blue shampoo bottle small size, then set the cup with light blue color on the coaster with circular shape.",
+    "Lift the plastic cup for drinks, carry it around the curved light blue shampoo bottle, and place the plastic cup for drinks squarely on the smooth round palm-sized coaster.",
+    "Move the medium-sized plastic blue cup onto the coaster made of smooth wood while avoiding the light blue shampoo bottle small size, then let go of the medium-sized plastic blue cup.",
+    "Use the arm to move the plastic cup for drinks past <the small smooth shampoo bottle> and rest it on <the round coaster>.",
+    "Take the cup for holding liquids to the smooth round palm-sized coaster while skirting the bottle of shampoo, then release the cup for holding liquids on the smooth round palm-sized coaster.",
+    "With an arm, lift the cup for holding liquids, avoid the hand-sized shampoo bottle, and set the cup for holding liquids onto the light gray streaked wooden coaster.",
+    "Guide the light blue plastic cup with the arm around <the bottle light blue rounded shape> and onto <the grainy texture coaster>.",
+    "Move the medium-sized plastic blue cup to <the wooden coaster> while keeping the medium-sized plastic blue cup away from <the bottle of shampoo>, then release.",
+    "Slide the smooth blue cup for liquids over to <the small coaster with grain texture> without passing near <the light blue shampoo bottle small size>.",
+    "With an arm, lift the cup with light blue color, guide it past the shampoo bottle tapered toward cap, and put the cup with light blue color on the round coaster with light streaks.",
+    "Carry the smooth blue drinking cup toward <the light gray round grainy coaster>, keeping clear of <the bottle of shampoo>, and set the smooth blue drinking cup down.",
+    "Grab the cylindrical light blue cup, swing it away from <the blue shampoo bottle>, and place the cylindrical light blue cup on <the grainy texture coaster>.",
+    "Use an arm to move the rounded base blue cup around the shampoo bottle with matte plastic and rest the rounded base blue cup on the round coaster with light streaks.",
+    "Use an arm to move the plastic cup for drinks toward the flat surface gray wooden coaster, keeping the plastic cup for drinks clear of the bottle of shampoo.",
+    "Grab the smooth blue drinking cup, guide it away from the shampoo bottle tapered toward cap, and set the smooth blue drinking cup neatly on the light gray streaked wooden coaster.",
+    "Grab the light blue plastic cup, route around the shampoo bottle with matte plastic, then lower the light blue plastic cup onto the coaster with circular shape.",
+    "With an arm, lift the plastic cup for drinks, avoid <the light blue shampoo bottle small size> on the way, and drop the plastic cup for drinks on <the round coaster with light streaks>.",
+    "Use an arm to grab the cup with light blue color, avoid the bottle of shampoo, and set the cup with light blue color down on the flat surface gray wooden coaster.",
+    "Lift the cylindrical light blue cup, pass beside <the light blue shampoo bottle small size> without contact, then place the cylindrical light blue cup onto <the wooden coaster>.",
+    "With an arm, move the plastic cup for drinks past the small smooth shampoo bottle and place the plastic cup for drinks on the grainy texture coaster.",
+    "Pick up the smooth blue drinking cup, avoid the curved light blue shampoo bottle along the way, and place the smooth blue drinking cup on the smooth round palm-sized coaster.",
+    "With an arm, lift the cylindrical light blue cup, route past <the blue shampoo bottle>, and drop the cylindrical light blue cup onto <the flat round wooden coaster>.",
+    "Take the cup with light blue color, route it away from the shampoo bottle with matte plastic, and set the cup with light blue color onto the wooden coaster.",
+    "Lift the blue rounded-bottom cup, guide it around <the blue shampoo bottle>, then put the blue rounded-bottom cup onto <the wooden coaster>.",
+    "Pick the cup with light blue color up, route it away from the shampoo bottle with white cap, and drop the cup with light blue color onto the coaster made of smooth wood.",
+    "With an arm, lift the rounded base blue cup, keep it away from the light blue shampoo bottle small size, and drop it onto the round coaster with light streaks.",
+    "Use an arm: take the medium blue cylindrical cup, avoid the blue shampoo bottle slender design during the move, and drop it on the light gray round grainy coaster.",
+    "Use an arm, keep the plastic cup for drinks from the blue shampoo bottle, and lower the plastic cup for drinks onto the light gray round grainy coaster.",
+    "Take the smooth blue cup for liquids, guide it away from <the shampoo bottle with white cap>, and place the smooth blue cup for liquids squarely on <the smooth round palm-sized coaster>.",
+    "Secure the medium-sized plastic blue cup, keep its path away from the curved light blue shampoo bottle, and set the medium-sized plastic blue cup on the small coaster with grain texture.",
+    "Use an arm: pick the blue rounded-bottom cup up, skirt <the blue shampoo bottle slender design>, then place the blue rounded-bottom cup onto <the light gray streaked wooden coaster>.",
+    "Using an arm, move the cup with smooth plastic surface to <the coaster with circular shape> while avoiding <the shampoo bottle with matte plastic>, then release the cup with smooth plastic surface.",
+    "Lift the cup with smooth plastic surface, route it away from the shampoo bottle tapered toward cap, then put the cup with smooth plastic surface squarely on the round coaster with light streaks.",
+    "With an arm, take the cylindrical light blue cup, avoid the shampoo bottle with matte plastic, and put the cylindrical light blue cup on the round coaster with light streaks.",
+    "Take the cup with smooth plastic surface, keep its path away from the bottle light blue rounded shape, and drop the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "Use an arm: grab the cylindrical light blue cup, avoid the bottle light blue rounded shape on the way, then set the cylindrical light blue cup on the light gray streaked wooden coaster."
+  ],
+  "unseen": [
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container white rounded top, and place it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the smooth bottle containing shampoo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the oval light blue shampoo container>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the smooth bottle containing shampoo, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo container white rounded top, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the oval light blue shampoo container>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the oval light blue shampoo container>, and set the blue cup on <the light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the shampoo container white rounded top>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container white rounded top, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the oval light blue shampoo container, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the oval light blue shampoo container>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the smooth bottle containing shampoo, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the smooth bottle containing shampoo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container white rounded top, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the smooth bottle containing shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the oval light blue shampoo container>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, carry it around the smooth bottle containing shampoo, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container white rounded top>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the oval light blue shampoo container>, and set the handheld round blue cup on <the light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the shampoo container white rounded top>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the smooth bottle containing shampoo, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the oval light blue shampoo container, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo container white rounded top>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, avoid the smooth bottle containing shampoo, and place the blue cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container white rounded top, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container white rounded top, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the oval light blue shampoo container, and place it on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo container white rounded top>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the smooth bottle containing shampoo>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the smooth bottle containing shampoo, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the smooth bottle containing shampoo>, then place the small smooth cup onto <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container white rounded top>, and set the small smooth cup on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container white rounded top>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the oval light blue shampoo container, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the smooth bottle containing shampoo, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo container white rounded top>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the smooth bottle containing shampoo, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep clear of the oval light blue shampoo container, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container white rounded top, and place it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the oval light blue shampoo container>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the smooth bottle containing shampoo>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the smooth bottle containing shampoo, then set the blue cup down on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container white rounded top>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the smooth bottle containing shampoo>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the blue cup, avoid <the smooth bottle containing shampoo>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the oval light blue shampoo container, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the oval light blue shampoo container, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the smooth bottle containing shampoo>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container white rounded top, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo container white rounded top, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container white rounded top, and place it on the light gray coaster.",
+    "Grab the blue cup, guide it around <the oval light blue shampoo container>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the smooth bottle containing shampoo>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the smooth bottle containing shampoo, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the smooth bottle containing shampoo>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container white rounded top>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container white rounded top>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container white rounded top, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, steer it around the oval light blue shampoo container, then set the blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the oval light blue shampoo container>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the smooth bottle containing shampoo, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container white rounded top, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the oval light blue shampoo container, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo container white rounded top>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around <the oval light blue shampoo container>, and place the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the shampoo container white rounded top, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the oval light blue shampoo container>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container white rounded top>, and set the small smooth cup on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container white rounded top>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container white rounded top, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, steer it around the oval light blue shampoo container, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo container white rounded top>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the oval light blue shampoo container, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the oval light blue shampoo container, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container white rounded top, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container white rounded top>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the oval light blue shampoo container>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode84.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode84.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7cf0717c92a66e6bdaa3416b1f89c5a0272a1eb
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode84.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With an arm, move the smooth blue cup for liquids past the medium oval plastic shampoo container and place the smooth blue cup for liquids on the smooth round palm-sized coaster.",
+    "Lift the cylindrical light blue cup, pass beside <the white shampoo bottle> without contact, then place the cylindrical light blue cup onto <the coaster with circular shape>.",
+    "Move the plastic cup for drinks toward the light gray round grainy coaster without passing near the medium shampoo bottle, then set it down.",
+    "With an arm, take the cylindrical light blue cup, avoid the pink-topped shampoo bottle, and put the cylindrical light blue cup on the coaster with circular shape.",
+    "With an arm, bring the blue rounded-bottom cup over to <the coaster with circular shape> and keep clear of <the shampoo dispenser with flat base>.",
+    "Move the smooth blue cup for liquids onto <the small coaster with grain texture> and ensure the path stays away from <the glossy white shampoo bottle>.",
+    "Take the medium blue cylindrical cup, guide it away from <the hand-sized shampoo bottle>, and place the medium blue cylindrical cup squarely on <the light gray streaked wooden coaster>.",
+    "Lift the cylindrical light blue cup, guide it around <the shampoo bottle with pink cap>, then put the cylindrical light blue cup onto <the flat surface gray wooden coaster>.",
+    "Carry the cup for holding liquids toward <the round coaster>, skirting <the white body pink flip cap bottle>, and set the cup for holding liquids down.",
+    "Lift the cup with smooth plastic surface, carry it around the white body pink flip cap bottle, and place the cup with smooth plastic surface squarely on the small coaster with grain texture.",
+    "Move the medium-sized plastic blue cup to the flat round wooden coaster without crossing the medium oval plastic shampoo container, then release the medium-sized plastic blue cup.",
+    "Take the plastic cup for drinks, keep its path away from the pink-topped shampoo bottle, and drop the plastic cup for drinks on the smooth round palm-sized coaster.",
+    "Using an arm, move the medium blue cylindrical cup to <the flat round wooden coaster> while avoiding <the pink-topped shampoo bottle>, then release the medium blue cylindrical cup.",
+    "Using an arm, pick the rounded base blue cup up, skirt the hand-sized shampoo bottle, and place the rounded base blue cup on the small coaster with grain texture.",
+    "Use an arm: grab the cylindrical light blue cup, avoid the shampoo dispenser with flat base on the way, then set the cylindrical light blue cup on the coaster with circular shape.",
+    "Use an arm to lift the cylindrical light blue cup, keep distance from <the plastic shampoo container>, and set the cylindrical light blue cup on <the coaster with circular shape>.",
+    "Use an arm to move the plastic cup for drinks to the grainy texture coaster, keeping the plastic cup for drinks from bumping the shampoo bottle with pink cap.",
+    "Grab the cup with light blue color, swing it away from <the pink-topped shampoo bottle>, and place the cup with light blue color on <the flat round wooden coaster>.",
+    "Pick up the smooth blue drinking cup, keep its path away from <the glossy white shampoo bottle>, and set the smooth blue drinking cup on <the grainy texture coaster>.",
+    "Grab the light blue plastic cup, guide it away from the oval-shaped shampoo bottle, and set the light blue plastic cup neatly on the round coaster with light streaks.",
+    "Secure the light blue plastic cup, keep its path away from the white body pink flip cap bottle, and set the light blue plastic cup on the small coaster with grain texture.",
+    "Use an arm to move the smooth blue drinking cup toward the grainy texture coaster, keeping the smooth blue drinking cup clear of the white shampoo bottle.",
+    "Use an arm to grab the light blue plastic cup, avoid the medium oval plastic shampoo container, and set the light blue plastic cup down on the coaster with circular shape.",
+    "Pick up the cup for holding liquids, route it away from the smooth white shampoo dispenser, then set the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Using an arm, carry the smooth blue cup for liquids past <the plastic shampoo container> and place the smooth blue cup for liquids squarely on <the wooden coaster>.",
+    "Move the cylindrical light blue cup onto the smooth round palm-sized coaster while avoiding the oval-shaped shampoo bottle, then let go of the cylindrical light blue cup.",
+    "Carry the cup with smooth plastic surface toward <the flat round wooden coaster>, keeping clear of <the shampoo bottle with pink cap>, and set the cup with smooth plastic surface down.",
+    "Carry the light blue plastic cup toward <the small coaster with grain texture>, keeping the path clear of <the pink-topped shampoo bottle>, then set down.",
+    "Use an arm to lift the cup for holding liquids, arc around the smooth white shampoo dispenser, and place the cup for holding liquids atop the coaster with circular shape.",
+    "Carry the cup with smooth plastic surface toward the round coaster, keeping the cup with smooth plastic surface away from the pink-topped shampoo bottle, then set down.",
+    "Use an arm, take the plastic cup for drinks, avoid <the medium oval plastic shampoo container> on the way, and set on <the light gray streaked wooden coaster>.",
+    "Take the medium blue cylindrical cup in the arm, route around <the shampoo dispenser with flat base>, and set it on <the flat round wooden coaster>.",
+    "Lift the plastic cup for drinks, guide it past the medium shampoo bottle, and rest the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Use an arm to move the medium blue cylindrical cup around the shampoo bottle with pink cap and rest the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Move the plastic cup for drinks onto the round coaster while avoiding the smooth white shampoo dispenser, then let go of the plastic cup for drinks.",
+    "Lift the cup for holding liquids, route it away from the oval-shaped shampoo bottle, then put the cup for holding liquids squarely on the coaster with circular shape.",
+    "Using an arm, carry the cup with smooth plastic surface around the white body pink flip cap bottle and place the cup with smooth plastic surface onto the coaster with circular shape.",
+    "Use the arm to lift the rounded base blue cup, pass the pink-topped shampoo bottle, and place the rounded base blue cup on the small coaster with grain texture.",
+    "Take the cup with smooth plastic surface, route it away from the pink-topped shampoo bottle, and set the cup with smooth plastic surface onto the round coaster.",
+    "Slide the cup with light blue color toward the grainy texture coaster, detouring around the smooth white shampoo dispenser, then set the cup with light blue color down.",
+    "Lift the cup for holding liquids, steer away from <the pink-topped shampoo bottle>, then place the cup for holding liquids on <the coaster with circular shape>.",
+    "Guide the rounded base blue cup with the arm around <the hand-sized shampoo bottle> and onto <the flat surface gray wooden coaster>.",
+    "Pick the light blue plastic cup up, route it away from the white shampoo bottle, and drop the light blue plastic cup onto the grainy texture coaster.",
+    "With an arm, lift the cup for holding liquids, route past <the hand-sized shampoo bottle>, and drop the cup for holding liquids onto <the small coaster with grain texture>.",
+    "Secure the cup with light blue color, move it around the glossy white shampoo bottle, and place the cup with light blue color squarely on the small coaster with grain texture.",
+    "Use an arm, take the light blue plastic cup past the shampoo bottle with pink cap without nearing it, and rest the light blue plastic cup on the flat surface gray wooden coaster.",
+    "Use the arm to carry the smooth blue cup for liquids around the pink-topped shampoo bottle, then rest the smooth blue cup for liquids on the smooth round palm-sized coaster.",
+    "Lift the cup with smooth plastic surface, go around the shampoo dispenser with flat base, and position the cup with smooth plastic surface squarely on the flat round wooden coaster.",
+    "Take the plastic cup for drinks, arc around <the smooth white shampoo dispenser>, and place the plastic cup for drinks neatly on <the round coaster>.",
+    "With an arm, lift the plastic cup for drinks, avoid <the shampoo dispenser with flat base> on the way, and drop the plastic cup for drinks on <the coaster made of smooth wood>.",
+    "Pick up the medium blue cylindrical cup, guide it past the pink-topped shampoo bottle, and drop the medium blue cylindrical cup on the coaster with circular shape.",
+    "Use an arm, pick the blue rounded-bottom cup up, pass around the hand-sized shampoo bottle, then place the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Take the cylindrical light blue cup, swing wide of the white body pink flip cap bottle, then rest the cylindrical light blue cup on the grainy texture coaster.",
+    "Pick up the blue rounded-bottom cup, avoid the hand-sized shampoo bottle along the way, and place the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Using an arm, grasp the cylindrical light blue cup, skirt the pink-topped shampoo bottle, and place the cylindrical light blue cup atop the smooth round palm-sized coaster.",
+    "Use the arm to move the medium-sized plastic blue cup past <the smooth white shampoo dispenser> and rest it on <the coaster with circular shape>.",
+    "Lift the cup for holding liquids, pass by the shampoo bottle with pink cap without contact, then place the cup for holding liquids on the light gray round grainy coaster.",
+    "Move the plastic cup for drinks to the light gray round grainy coaster while avoiding the white shampoo bottle, then place the plastic cup for drinks on the light gray round grainy coaster.",
+    "Use an arm: take the smooth blue drinking cup, avoid the glossy white shampoo bottle during the move, and drop it on the wooden coaster.",
+    "With an arm, lift the smooth blue drinking cup, avoid the shampoo dispenser with flat base, and set the smooth blue drinking cup onto the coaster with circular shape.",
+    "Slide the cup for holding liquids over to <the round coaster with light streaks> without passing near <the plastic shampoo container>.",
+    "Pick up the smooth blue drinking cup, keep clear of <the white shampoo bottle>, and drop the smooth blue drinking cup onto <the flat surface gray wooden coaster>.",
+    "Arm-lift the cylindrical light blue cup, swing around <the medium oval plastic shampoo container>, then place the cylindrical light blue cup onto <the flat round wooden coaster>.",
+    "Use an arm, keep the cup with smooth plastic surface from the white body pink flip cap bottle, and lower the cup with smooth plastic surface onto the small coaster with grain texture.",
+    "Move the blue rounded-bottom cup to <the coaster made of smooth wood> while keeping the blue rounded-bottom cup away from <the medium shampoo bottle>, then release.",
+    "Move the rounded base blue cup to <the wooden coaster> while keeping its path away from <the shampoo dispenser with flat base>.",
+    "Take the light blue plastic cup to the flat round wooden coaster while skirting the hand-sized shampoo bottle, then release the light blue plastic cup on the flat round wooden coaster.",
+    "Grab the blue rounded-bottom cup, route around the hand-sized shampoo bottle, then lower the blue rounded-bottom cup onto the flat surface gray wooden coaster.",
+    "Take the smooth blue drinking cup, keep its path away from the medium oval plastic shampoo container, and place the smooth blue drinking cup on the flat round wooden coaster.",
+    "Use an arm to bring the medium-sized plastic blue cup to the small coaster with grain texture, keeping the medium-sized plastic blue cup clear of the hand-sized shampoo bottle.",
+    "Use an arm: grasp the cup with smooth plastic surface, avoid <the medium oval plastic shampoo container>, and place the cup with smooth plastic surface on <the flat surface gray wooden coaster>.",
+    "Use an arm to take the cup with light blue color around <the white shampoo bottle> and place the cup with light blue color on <the light gray round grainy coaster>.",
+    "With an arm, lift the smooth blue drinking cup, guide it past the pink-topped shampoo bottle, and put the smooth blue drinking cup on the coaster with circular shape.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the oval-shaped shampoo bottle, and place the cylindrical light blue cup on the round coaster with light streaks.",
+    "Lift the medium-sized plastic blue cup, arc around the white shampoo bottle, and place the medium-sized plastic blue cup squarely on the smooth round palm-sized coaster.",
+    "Lift the cup with smooth plastic surface, keep clear of the medium oval plastic shampoo container, and put the cup with smooth plastic surface down on the round coaster with light streaks.",
+    "With an arm, lift the plastic cup for drinks, keep it away from the hand-sized shampoo bottle, and drop it onto the wooden coaster.",
+    "Use an arm: pick the smooth blue cup for liquids up, skirt <the oval-shaped shampoo bottle>, then place the smooth blue cup for liquids onto <the coaster made of smooth wood>.",
+    "With an arm, lift the cylindrical light blue cup, avoid the shampoo bottle with pink cap, and place the cylindrical light blue cup on the light gray round grainy coaster.",
+    "With an arm, pick the cup for holding liquids up, bypass <the shampoo dispenser with flat base>, then place the cup for holding liquids on <the grainy texture coaster>.",
+    "With an arm, move the smooth blue cup for liquids past the medium shampoo bottle and place the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Lift the medium-sized plastic blue cup, pass beside <the plastic shampoo container> without contact, then place the medium-sized plastic blue cup onto <the round coaster with light streaks>.",
+    "Move the rounded base blue cup toward the light gray round grainy coaster without passing near the medium oval plastic shampoo container, then set it down.",
+    "With an arm, take the light blue plastic cup, avoid the oval-shaped shampoo bottle, and put the light blue plastic cup on the light gray streaked wooden coaster.",
+    "With an arm, bring the cylindrical light blue cup over to <the coaster with circular shape> and keep clear of <the pink-topped shampoo bottle>.",
+    "Move the light blue plastic cup onto <the grainy texture coaster> and ensure the path stays away from <the medium shampoo bottle>.",
+    "Take the medium-sized plastic blue cup, guide it away from <the smooth white shampoo dispenser>, and place the medium-sized plastic blue cup squarely on <the round coaster>.",
+    "Lift the medium blue cylindrical cup, guide it around <the glossy white shampoo bottle>, then put the medium blue cylindrical cup onto <the light gray streaked wooden coaster>.",
+    "Carry the cup with light blue color toward <the light gray streaked wooden coaster>, skirting <the white body pink flip cap bottle>, and set the cup with light blue color down.",
+    "Lift the rounded base blue cup, carry it around the medium oval plastic shampoo container, and place the rounded base blue cup squarely on the grainy texture coaster.",
+    "Move the smooth blue cup for liquids to the flat round wooden coaster without crossing the white shampoo bottle, then release the smooth blue cup for liquids.",
+    "Take the medium-sized plastic blue cup, keep its path away from the white body pink flip cap bottle, and drop the medium-sized plastic blue cup on the wooden coaster.",
+    "Using an arm, move the medium-sized plastic blue cup to <the small coaster with grain texture> while avoiding <the plastic shampoo container>, then release the medium-sized plastic blue cup.",
+    "Using an arm, pick the cup with light blue color up, skirt the glossy white shampoo bottle, and place the cup with light blue color on the coaster made of smooth wood.",
+    "Use an arm: grab the blue rounded-bottom cup, avoid the oval-shaped shampoo bottle on the way, then set the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Use an arm to lift the smooth blue drinking cup, keep distance from <the hand-sized shampoo bottle>, and set the smooth blue drinking cup on <the wooden coaster>.",
+    "Use an arm to move the smooth blue drinking cup to the light gray streaked wooden coaster, keeping the smooth blue drinking cup from bumping the smooth white shampoo dispenser.",
+    "Grab the light blue plastic cup, swing it away from <the medium oval plastic shampoo container>, and place the light blue plastic cup on <the flat round wooden coaster>.",
+    "Pick up the cup with light blue color, keep its path away from <the glossy white shampoo bottle>, and set the cup with light blue color on <the flat surface gray wooden coaster>.",
+    "Grab the medium blue cylindrical cup, guide it away from the medium oval plastic shampoo container, and set the medium blue cylindrical cup neatly on the smooth round palm-sized coaster."
+  ],
+  "unseen": [
+    "Grab the blue cup, keep it clear of the Dove shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the bottle for holding shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with Dove logo>, then set the handheld round blue cup on <the light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with Dove logo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the bottle for holding shampoo>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the Dove shampoo bottle, and set it on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the Dove shampoo bottle>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the Dove shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the Dove shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo bottle with Dove logo>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with Dove logo, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with Dove logo, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with Dove logo>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the Dove shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the Dove shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the Dove shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with Dove logo>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the bottle for holding shampoo, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the Dove shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the bottle for holding shampoo, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the bottle for holding shampoo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the bottle for holding shampoo>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the bottle for holding shampoo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the Dove shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the bottle for holding shampoo>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with Dove logo, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with Dove logo, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with Dove logo, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the Dove shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the Dove shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the Dove shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, guide it around <the Dove shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the Dove shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the bottle for holding shampoo, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the Dove shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the Dove shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep clear of the shampoo bottle with Dove logo, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the Dove shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the Dove shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the Dove shampoo bottle, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the bottle for holding shampoo>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the Dove shampoo bottle, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the Dove shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the Dove shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the bottle for holding shampoo>, then set the small smooth cup on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the bottle for holding shampoo>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, guide it around <the bottle for holding shampoo>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with Dove logo, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set it on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with Dove logo>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the Dove shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the Dove shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with Dove logo, and set the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle with Dove logo, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo bottle with Dove logo>, and set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the bottle for holding shampoo, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the Dove shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the bottle for holding shampoo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the Dove shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the Dove shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with Dove logo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the bottle for holding shampoo, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the Dove shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the Dove shampoo bottle>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the shampoo bottle with Dove logo, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the bottle for holding shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the bottle for holding shampoo>, and place the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the bottle for holding shampoo, and set the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the bottle for holding shampoo, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with Dove logo>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the bottle for holding shampoo, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the Dove shampoo bottle, and place it on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with Dove logo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the Dove shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the Dove shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, guide it around <the Dove shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with Dove logo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with Dove logo, and set it on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the bottle for holding shampoo>, then place the small smooth cup onto <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the Dove shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the Dove shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the Dove shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the Dove shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the Dove shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the bottle for holding shampoo>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with Dove logo, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the bottle for holding shampoo, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with Dove logo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the Dove shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the Dove shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the bottle for holding shampoo>, then set the small smooth cup on <the light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode85.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode85.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c2cc5224fc302129f09aa1859990f3f8d3a6057
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode85.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With an arm, lift the medium blue cylindrical cup, route past <the white shampoo bottle>, and drop the medium blue cylindrical cup onto <the smooth round palm-sized coaster>.",
+    "With an arm, take the medium blue cylindrical cup, avoid the rectangular shampoo bottle with rounded top, and put the medium blue cylindrical cup on the round coaster.",
+    "Use an arm: grab the cup with light blue color, avoid the white shampoo bottle on the way, then set the cup with light blue color on the round coaster with light streaks.",
+    "Take the cup for holding liquids, keep its path away from the hand-held shampoo bottle, and drop the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Move the medium blue cylindrical cup onto the coaster made of smooth wood while avoiding the bottle with yellow cap, then let go of the medium blue cylindrical cup.",
+    "Lift the cup for holding liquids, go around the white shampoo bottle, and position the cup for holding liquids squarely on the flat surface gray wooden coaster.",
+    "With an arm, lift the cup for holding liquids, keep it away from the medium shampoo container, and drop it onto the coaster made of smooth wood.",
+    "Take the smooth blue cup for liquids to the flat round wooden coaster while skirting the shampoo bottle with rectangular base, then release the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Lift the smooth blue drinking cup, carry it around the rectangular shampoo bottle with rounded top, and place the smooth blue drinking cup squarely on the light gray streaked wooden coaster.",
+    "With an arm, lift the cup for holding liquids, avoid the shampoo bottle, and place the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Use an arm, take the plastic cup for drinks, avoid <the smooth shampoo container> on the way, and set on <the smooth round palm-sized coaster>.",
+    "Lift the smooth blue cup for liquids, pass by the shampoo bottle with rectangular base without contact, then place the smooth blue cup for liquids on the light gray round grainy coaster.",
+    "Arm-lift the rounded base blue cup, swing around <the rectangular shampoo bottle with rounded top>, then place the rounded base blue cup onto <the small coaster with grain texture>.",
+    "Using an arm, pick the cup with smooth plastic surface up, skirt the white bottle with golden accents, and place the cup with smooth plastic surface on the coaster with circular shape.",
+    "Lift the cylindrical light blue cup, guide it past the white bottle with golden accents, and rest the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Secure the cup with smooth plastic surface, move it around the white shampoo bottle with golden top, and place the cup with smooth plastic surface squarely on the flat surface gray wooden coaster.",
+    "Pick up the light blue plastic cup, keep clear of <the medium shampoo container>, and drop the light blue plastic cup onto <the smooth round palm-sized coaster>.",
+    "Pick up the cup with smooth plastic surface, keep its path away from <the white shampoo bottle with golden top>, and set the cup with smooth plastic surface on <the wooden coaster>.",
+    "Use an arm to move the medium blue cylindrical cup toward the wooden coaster, keeping the medium blue cylindrical cup clear of the hand-held shampoo bottle.",
+    "Carry the blue rounded-bottom cup toward <the wooden coaster>, keeping clear of <the plastic shampoo bottle with smooth surface>, and set the blue rounded-bottom cup down.",
+    "Use an arm: pick the cylindrical light blue cup up, skirt <the medium shampoo container>, then place the cylindrical light blue cup onto <the grainy texture coaster>.",
+    "Grab the plastic cup for drinks, route around the white bottle with golden accents, then lower the plastic cup for drinks onto the wooden coaster.",
+    "With an arm, lift the blue rounded-bottom cup, avoid <the hand-held shampoo bottle> on the way, and drop the blue rounded-bottom cup on <the small coaster with grain texture>.",
+    "Move the cup with smooth plastic surface onto the round coaster while avoiding the medium shampoo container, then let go of the cup with smooth plastic surface.",
+    "Use an arm to take the medium-sized plastic blue cup around <the white shampoo bottle> and place the medium-sized plastic blue cup on <the light gray streaked wooden coaster>.",
+    "Move the rounded base blue cup to the light gray round grainy coaster while avoiding the white shampoo bottle, then place the rounded base blue cup on the light gray round grainy coaster.",
+    "Carry the cylindrical light blue cup toward the small coaster with grain texture, keeping the cylindrical light blue cup away from the white bottle with golden accents, then set down.",
+    "Carry the medium-sized plastic blue cup toward <the flat round wooden coaster>, keeping the path clear of <the rectangular shampoo bottle with rounded top>, then set down.",
+    "Move the cup for holding liquids to <the round coaster> while keeping the cup for holding liquids away from <the bottle for shampoo with glossy finish>, then release.",
+    "Take the cup for holding liquids, swing wide of the hand-held shampoo bottle, then rest the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Pick up the cup with smooth plastic surface, avoid the white shampoo bottle with golden top along the way, and place the cup with smooth plastic surface on the grainy texture coaster.",
+    "Use an arm to lift the plastic cup for drinks, arc around the hand-held shampoo bottle, and place the plastic cup for drinks atop the round coaster.",
+    "Use an arm to move the smooth blue cup for liquids around the white bottle with golden accents and rest the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "Use an arm to lift the plastic cup for drinks, keep distance from <the white shampoo bottle>, and set the plastic cup for drinks on <the coaster made of smooth wood>.",
+    "Pick the cup for holding liquids up, route it away from the medium shampoo container, and drop the cup for holding liquids onto the small coaster with grain texture.",
+    "Take the blue rounded-bottom cup, keep its path away from the shampoo bottle, and place the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Take the cup with light blue color, route it away from the medium shampoo container, and set the cup with light blue color onto the grainy texture coaster.",
+    "Lift the cup for holding liquids, guide it around <the hand-held shampoo bottle>, then put the cup for holding liquids onto <the flat round wooden coaster>.",
+    "Use an arm, pick the medium-sized plastic blue cup up, pass around the hand-held shampoo bottle, then place the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Take the blue rounded-bottom cup in the arm, route around <the shampoo bottle>, and set it on <the light gray round grainy coaster>.",
+    "Use an arm, keep the cylindrical light blue cup from the plastic shampoo bottle with smooth surface, and lower the cylindrical light blue cup onto the grainy texture coaster.",
+    "Use the arm to carry the cup with smooth plastic surface around the hand-held shampoo bottle, then rest the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "Take the cylindrical light blue cup, guide it away from <the smooth shampoo container>, and place the cylindrical light blue cup squarely on <the grainy texture coaster>.",
+    "Pick up the plastic cup for drinks, route it away from the shampoo bottle, then set the plastic cup for drinks on the small coaster with grain texture.",
+    "With an arm, bring the medium blue cylindrical cup over to <the round coaster with light streaks> and keep clear of <the white shampoo bottle with golden top>.",
+    "Lift the blue rounded-bottom cup, pass beside <the shampoo bottle> without contact, then place the blue rounded-bottom cup onto <the coaster made of smooth wood>.",
+    "Using an arm, move the smooth blue cup for liquids to <the flat round wooden coaster> while avoiding <the smooth shampoo container>, then release the smooth blue cup for liquids.",
+    "Move the medium blue cylindrical cup onto <the coaster with circular shape> and ensure the path stays away from <the shampoo bottle with rectangular base>.",
+    "Using an arm, grasp the light blue plastic cup, skirt the white shampoo bottle with golden top, and place the light blue plastic cup atop the light gray streaked wooden coaster.",
+    "Use an arm, take the medium-sized plastic blue cup past the plastic shampoo bottle with smooth surface without nearing it, and rest the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "With an arm, pick the plastic cup for drinks up, bypass <the shampoo bottle>, then place the plastic cup for drinks on <the wooden coaster>.",
+    "Grab the medium-sized plastic blue cup, guide it away from the white bottle with golden accents, and set the medium-sized plastic blue cup neatly on the light gray streaked wooden coaster.",
+    "Use an arm: grasp the light blue plastic cup, avoid <the white shampoo bottle>, and place the light blue plastic cup on <the smooth round palm-sized coaster>.",
+    "Lift the cup for holding liquids, keep clear of the white bottle with golden accents, and put the cup for holding liquids down on the grainy texture coaster.",
+    "Use the arm to lift the cup for holding liquids, pass the white shampoo bottle, and place the cup for holding liquids on the coaster with circular shape.",
+    "Lift the plastic cup for drinks, arc around the bottle for shampoo with glossy finish, and place the plastic cup for drinks squarely on the smooth round palm-sized coaster.",
+    "With an arm, lift the medium blue cylindrical cup, avoid the rectangular shampoo bottle with rounded top, and set the medium blue cylindrical cup onto the light gray round grainy coaster.",
+    "Lift the smooth blue drinking cup, steer away from <the shampoo bottle with rectangular base>, then place the smooth blue drinking cup on <the coaster with circular shape>.",
+    "Use an arm to bring the medium blue cylindrical cup to the smooth round palm-sized coaster, keeping the medium blue cylindrical cup clear of the white shampoo bottle.",
+    "Using an arm, pick the cup with light blue color up, skirt the plastic shampoo bottle with smooth surface, and place the cup with light blue color on the smooth round palm-sized coaster.",
+    "Take the rounded base blue cup, arc around <the shampoo bottle>, and place the rounded base blue cup neatly on <the light gray streaked wooden coaster>.",
+    "Guide the cylindrical light blue cup with the arm around <the shampoo bottle> and onto <the coaster with circular shape>.",
+    "Move the smooth blue cup for liquids to <the light gray round grainy coaster> while keeping its path away from <the plastic shampoo bottle with smooth surface>.",
+    "With an arm, lift the cup with smooth plastic surface, guide it past the hand-held shampoo bottle, and put the cup with smooth plastic surface on the round coaster with light streaks.",
+    "With an arm, move the rounded base blue cup past the hand-held shampoo bottle and place the rounded base blue cup on the coaster made of smooth wood.",
+    "Use an arm: take the plastic cup for drinks, avoid the smooth shampoo container during the move, and drop it on the flat surface gray wooden coaster.",
+    "Slide the light blue plastic cup toward the small coaster with grain texture, detouring around the white shampoo bottle, then set the light blue plastic cup down.",
+    "Slide the medium-sized plastic blue cup over to <the wooden coaster> without passing near <the shampoo bottle>.",
+    "Use an arm to grab the cup for holding liquids, avoid the hand-held shampoo bottle, and set the cup for holding liquids down on the smooth round palm-sized coaster.",
+    "Grab the cup with light blue color, swing it away from <the bottle for shampoo with glossy finish>, and place the cup with light blue color on <the wooden coaster>.",
+    "Using an arm, carry the rounded base blue cup past <the white shampoo bottle with golden top> and place the rounded base blue cup squarely on <the wooden coaster>.",
+    "Lift the cup for holding liquids, route it away from the medium shampoo container, then put the cup for holding liquids squarely on the flat surface gray wooden coaster.",
+    "Move the cup with light blue color to the small coaster with grain texture without crossing the white shampoo bottle with golden top, then release the cup with light blue color.",
+    "Use the arm to move the light blue plastic cup past <the white shampoo bottle with golden top> and rest it on <the round coaster>.",
+    "Use an arm to move the cup with smooth plastic surface to the smooth round palm-sized coaster, keeping the cup with smooth plastic surface from bumping the bottle with yellow cap.",
+    "Using an arm, carry the cup with smooth plastic surface around the bottle for shampoo with glossy finish and place the cup with smooth plastic surface onto the small coaster with grain texture.",
+    "Move the cup with light blue color toward the wooden coaster without passing near the medium shampoo container, then set it down.",
+    "Secure the blue rounded-bottom cup, keep its path away from the bottle with yellow cap, and set the blue rounded-bottom cup on the light gray round grainy coaster.",
+    "Pick up the rounded base blue cup, guide it past the white shampoo bottle, and drop the rounded base blue cup on the light gray round grainy coaster.",
+    "Carry the plastic cup for drinks toward <the flat round wooden coaster>, skirting <the shampoo bottle>, and set the plastic cup for drinks down.",
+    "With an arm, lift the medium blue cylindrical cup, route past <the white shampoo bottle with golden top>, and drop the medium blue cylindrical cup onto <the round coaster>.",
+    "With an arm, take the cylindrical light blue cup, avoid the medium shampoo container, and put the cylindrical light blue cup on the flat surface gray wooden coaster.",
+    "Use an arm: grab the cup with light blue color, avoid the white shampoo bottle on the way, then set the cup with light blue color on the flat surface gray wooden coaster.",
+    "Take the cup with light blue color, keep its path away from the bottle for shampoo with glossy finish, and drop the cup with light blue color on the flat surface gray wooden coaster.",
+    "Move the light blue plastic cup onto the flat surface gray wooden coaster while avoiding the rectangular shampoo bottle with rounded top, then let go of the light blue plastic cup.",
+    "Lift the plastic cup for drinks, go around the hand-held shampoo bottle, and position the plastic cup for drinks squarely on the flat round wooden coaster.",
+    "With an arm, lift the smooth blue drinking cup, keep it away from the white shampoo bottle, and drop it onto the coaster made of smooth wood.",
+    "Take the medium-sized plastic blue cup to the flat round wooden coaster while skirting the white bottle with golden accents, then release the medium-sized plastic blue cup on the flat round wooden coaster.",
+    "Lift the cup with light blue color, carry it around the hand-held shampoo bottle, and place the cup with light blue color squarely on the smooth round palm-sized coaster.",
+    "With an arm, lift the rounded base blue cup, avoid the hand-held shampoo bottle, and place the rounded base blue cup on the round coaster with light streaks.",
+    "Use an arm, take the blue rounded-bottom cup, avoid <the white shampoo bottle> on the way, and set on <the wooden coaster>.",
+    "Lift the blue rounded-bottom cup, pass by the hand-held shampoo bottle without contact, then place the blue rounded-bottom cup on the small coaster with grain texture.",
+    "Arm-lift the rounded base blue cup, swing around <the white shampoo bottle>, then place the rounded base blue cup onto <the flat round wooden coaster>.",
+    "Using an arm, pick the cup with smooth plastic surface up, skirt the white shampoo bottle, and place the cup with smooth plastic surface on the coaster with circular shape.",
+    "Lift the medium blue cylindrical cup, guide it past the plastic shampoo bottle with smooth surface, and rest the medium blue cylindrical cup on the flat round wooden coaster.",
+    "Secure the cup for holding liquids, move it around the white shampoo bottle, and place the cup for holding liquids squarely on the flat round wooden coaster.",
+    "Pick up the cylindrical light blue cup, keep clear of <the plastic shampoo bottle with smooth surface>, and drop the cylindrical light blue cup onto <the flat round wooden coaster>.",
+    "Pick up the medium-sized plastic blue cup, keep its path away from <the white shampoo bottle with golden top>, and set the medium-sized plastic blue cup on <the coaster made of smooth wood>.",
+    "Use an arm to move the cup with light blue color toward the coaster made of smooth wood, keeping the cup with light blue color clear of the white shampoo bottle with golden top.",
+    "Carry the smooth blue drinking cup toward <the flat surface gray wooden coaster>, keeping clear of <the white shampoo bottle with golden top>, and set the smooth blue drinking cup down."
+  ],
+  "unseen": [
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the medium-sized shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo bottle with rounded yellow cap>, and place the blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the white plastic shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the white plastic shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the white plastic shampoo bottle, and place the small smooth cup on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the white plastic shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the medium-sized shampoo bottle, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the white plastic shampoo bottle, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the white plastic shampoo bottle, and set it on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the white plastic shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the white plastic shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the white plastic shampoo bottle>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the medium-sized shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, route it around <the white plastic shampoo bottle>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the white plastic shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white plastic shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the medium-sized shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Grab the blue cup, steer it around the medium-sized shampoo bottle, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the white plastic shampoo bottle, and set it on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the medium-sized shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the white plastic shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white plastic shampoo bottle>, and place the small smooth cup on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the white plastic shampoo bottle>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, route it around <the medium-sized shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the white plastic shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the medium-sized shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the medium-sized shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the white plastic shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set it on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white plastic shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the white plastic shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the white plastic shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the medium-sized shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the medium-sized shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with rounded yellow cap>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the medium-sized shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the white plastic shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the white plastic shampoo bottle, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with rounded yellow cap, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the white plastic shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the medium-sized shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the medium-sized shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the medium-sized shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with rounded yellow cap>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the medium-sized shampoo bottle>, and set the small smooth cup on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the white plastic shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with rounded yellow cap, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the white plastic shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the white plastic shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with rounded yellow cap, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the white plastic shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the medium-sized shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the white plastic shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the white plastic shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, route it around <the white plastic shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white plastic shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, carry it around the medium-sized shampoo bottle, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the medium-sized shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the medium-sized shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with rounded yellow cap, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the white plastic shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the medium-sized shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the medium-sized shampoo bottle>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the blue cup on <the disc-shaped light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode86.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode86.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbdf00579ab5372b3e85ae009c6997888446fc55
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode86.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium blue cylindrical cup, pass beside <the shampoo bottle with matte black pump> without contact, then place the medium blue cylindrical cup onto <the smooth round palm-sized coaster>.",
+    "Move the smooth blue drinking cup to the light gray streaked wooden coaster while avoiding the green shampoo bottle, then place the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "Lift the light blue plastic cup, guide it past the shampoo bottle with black pump, and rest the light blue plastic cup on the round coaster with light streaks.",
+    "Carry the blue rounded-bottom cup toward <the light gray round grainy coaster>, skirting <the shampoo bottle with black pump>, and set the blue rounded-bottom cup down.",
+    "Move the light blue plastic cup onto <the flat round wooden coaster> and ensure the path stays away from <the rectangular dark green shampoo bottle>.",
+    "Take the cylindrical light blue cup, swing wide of the shampoo container with dispensing pump, then rest the cylindrical light blue cup on the coaster with circular shape.",
+    "Pick up the medium blue cylindrical cup, guide it past the shampoo bottle with black pump, and drop the medium blue cylindrical cup on the round coaster.",
+    "Take the blue rounded-bottom cup, arc around <the shampoo bottle with black pump>, and place the blue rounded-bottom cup neatly on <the round coaster>.",
+    "With an arm, lift the smooth blue drinking cup, avoid the green shampoo bottle, and place the smooth blue drinking cup on the small coaster with grain texture.",
+    "Grab the medium blue cylindrical cup, swing it away from <the hand-sized shampoo bottle>, and place the medium blue cylindrical cup on <the flat surface gray wooden coaster>.",
+    "Take the cup with light blue color to the round coaster while skirting the shampoo bottle with matte black pump, then release the cup with light blue color on the round coaster.",
+    "Use an arm to move the rounded base blue cup around the shampoo bottle with matte black pump and rest the rounded base blue cup on the light gray round grainy coaster.",
+    "Lift the blue rounded-bottom cup, route it away from the shampoo container with dispensing pump, then put the blue rounded-bottom cup squarely on the flat round wooden coaster.",
+    "Slide the cylindrical light blue cup over to <the light gray round grainy coaster> without passing near <the shampoo bottle with matte black pump>.",
+    "Use an arm to bring the cup for holding liquids to the grainy texture coaster, keeping the cup for holding liquids clear of the rectangular dark green shampoo bottle.",
+    "Lift the light blue plastic cup, arc around the shampoo bottle with black pump, and place the light blue plastic cup squarely on the flat surface gray wooden coaster.",
+    "Lift the smooth blue drinking cup, keep clear of the shampoo container with dispensing pump, and put the smooth blue drinking cup down on the wooden coaster.",
+    "With an arm, bring the medium blue cylindrical cup over to <the light gray streaked wooden coaster> and keep clear of <the shampoo bottle with smooth surface>.",
+    "Move the cup with light blue color onto the wooden coaster while avoiding the shampoo bottle with black pump, then let go of the cup with light blue color.",
+    "Using an arm, grasp the cylindrical light blue cup, skirt the shampoo bottle with smooth surface, and place the cylindrical light blue cup atop the flat surface gray wooden coaster.",
+    "Secure the medium blue cylindrical cup, move it around the shampoo bottle with smooth surface, and place the medium blue cylindrical cup squarely on the smooth round palm-sized coaster.",
+    "Secure the medium blue cylindrical cup, keep its path away from the shampoo bottle with black pump, and set the medium blue cylindrical cup on the coaster made of smooth wood.",
+    "Use an arm: grab the rounded base blue cup, avoid the rectangular dark green shampoo bottle on the way, then set the rounded base blue cup on the small coaster with grain texture.",
+    "Pick up the cup with light blue color, keep its path away from <the shampoo container with dispensing pump>, and set the cup with light blue color on <the small coaster with grain texture>.",
+    "Use an arm to move the cup with light blue color toward the small coaster with grain texture, keeping the cup with light blue color clear of the plastic shampoo container.",
+    "Use an arm to move the plastic cup for drinks to the coaster with circular shape, keeping the plastic cup for drinks from bumping the hand-sized shampoo bottle.",
+    "Grab the plastic cup for drinks, guide it away from the rectangular green plastic shampoo dispenser, and set the plastic cup for drinks neatly on the light gray round grainy coaster.",
+    "Carry the cup with smooth plastic surface toward <the flat surface gray wooden coaster>, keeping clear of <the hand-sized shampoo bottle>, and set the cup with smooth plastic surface down.",
+    "Slide the blue rounded-bottom cup toward the coaster with circular shape, detouring around the shampoo container with dispensing pump, then set the blue rounded-bottom cup down.",
+    "Pick the medium-sized plastic blue cup up, route it away from the shampoo bottle with smooth surface, and drop the medium-sized plastic blue cup onto the small coaster with grain texture.",
+    "With an arm, move the light blue plastic cup past the green shampoo bottle and place the light blue plastic cup on the smooth round palm-sized coaster.",
+    "With an arm, lift the cup with light blue color, avoid <the shampoo container with dispensing pump> on the way, and drop the cup with light blue color on <the light gray round grainy coaster>.",
+    "With an arm, take the plastic cup for drinks, avoid the shampoo bottle with black pump, and put the plastic cup for drinks on the round coaster with light streaks.",
+    "Use an arm to lift the cup with light blue color, keep distance from <the rectangular dark green shampoo bottle>, and set the cup with light blue color on <the grainy texture coaster>.",
+    "Move the medium blue cylindrical cup toward the wooden coaster without passing near the hand-sized shampoo bottle, then set it down.",
+    "With an arm, lift the smooth blue cup for liquids, avoid the medium size shampoo bottle, and set the smooth blue cup for liquids onto the flat surface gray wooden coaster.",
+    "Arm-lift the blue rounded-bottom cup, swing around <the dark green bottle with pump>, then place the blue rounded-bottom cup onto <the light gray streaked wooden coaster>.",
+    "Use an arm, pick the rounded base blue cup up, pass around the medium size shampoo bottle, then place the rounded base blue cup on the coaster made of smooth wood.",
+    "Use the arm to carry the light blue plastic cup around the rectangular green plastic shampoo dispenser, then rest the light blue plastic cup on the wooden coaster.",
+    "Using an arm, pick the plastic cup for drinks up, skirt the hand-sized shampoo bottle, and place the plastic cup for drinks on the coaster made of smooth wood.",
+    "Pick up the cup for holding liquids, avoid the shampoo bottle with smooth surface along the way, and place the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Grab the medium blue cylindrical cup, route around the shampoo container with dispensing pump, then lower the medium blue cylindrical cup onto the light gray streaked wooden coaster.",
+    "Pick up the blue rounded-bottom cup, keep clear of <the hand-sized shampoo bottle>, and drop the blue rounded-bottom cup onto <the flat surface gray wooden coaster>.",
+    "Lift the smooth blue cup for liquids, steer away from <the shampoo bottle, green with black cap>, then place the smooth blue cup for liquids on <the round coaster>.",
+    "Move the cup with light blue color to <the flat surface gray wooden coaster> while keeping the cup with light blue color away from <the rectangular green plastic shampoo dispenser>, then release.",
+    "With an arm, lift the cup with light blue color, keep it away from the shampoo bottle, green with black cap, and drop it onto the round coaster with light streaks.",
+    "Use the arm to lift the rounded base blue cup, pass the rectangular dark green shampoo bottle, and place the rounded base blue cup on the round coaster with light streaks.",
+    "With an arm, lift the blue rounded-bottom cup, route past <the medium size shampoo bottle>, and drop the blue rounded-bottom cup onto <the small coaster with grain texture>.",
+    "Take the light blue plastic cup, keep its path away from the rectangular dark green shampoo bottle, and drop the light blue plastic cup on the flat surface gray wooden coaster.",
+    "Use an arm to lift the medium-sized plastic blue cup, arc around the green shampoo bottle, and place the medium-sized plastic blue cup atop the flat round wooden coaster.",
+    "Take the cup with light blue color, keep its path away from the shampoo bottle with black pump, and place the cup with light blue color on the wooden coaster.",
+    "Use an arm, take the light blue plastic cup, avoid <the medium size shampoo bottle> on the way, and set on <the round coaster>.",
+    "Move the rounded base blue cup onto the small coaster with grain texture while avoiding the shampoo container with dispensing pump, then let go of the rounded base blue cup.",
+    "Take the cup with light blue color in the arm, route around <the medium size shampoo bottle>, and set it on <the round coaster with light streaks>.",
+    "Using an arm, move the blue rounded-bottom cup to <the smooth round palm-sized coaster> while avoiding <the shampoo bottle with matte black pump>, then release the blue rounded-bottom cup.",
+    "Use an arm to take the medium-sized plastic blue cup around <the shampoo container with dispensing pump> and place the medium-sized plastic blue cup on <the flat surface gray wooden coaster>.",
+    "Lift the cylindrical light blue cup, carry it around the rectangular dark green shampoo bottle, and place the cylindrical light blue cup squarely on the flat surface gray wooden coaster.",
+    "Use an arm: grasp the cup with light blue color, avoid <the rectangular green plastic shampoo dispenser>, and place the cup with light blue color on <the coaster made of smooth wood>.",
+    "Using an arm, pick the medium-sized plastic blue cup up, skirt the shampoo bottle with matte black pump, and place the medium-sized plastic blue cup on the flat surface gray wooden coaster.",
+    "Using an arm, carry the cup for holding liquids around the shampoo bottle, green with black cap and place the cup for holding liquids onto the flat surface gray wooden coaster.",
+    "Take the smooth blue drinking cup, route it away from the rectangular green plastic shampoo dispenser, and set the smooth blue drinking cup onto the flat surface gray wooden coaster.",
+    "Use an arm, take the light blue plastic cup past the shampoo bottle with black pump without nearing it, and rest the light blue plastic cup on the small coaster with grain texture.",
+    "With an arm, lift the cup with light blue color, guide it past the hand-sized shampoo bottle, and put the cup with light blue color on the wooden coaster.",
+    "With an arm, pick the plastic cup for drinks up, bypass <the hand-sized shampoo bottle>, then place the plastic cup for drinks on <the smooth round palm-sized coaster>.",
+    "Use the arm to move the cylindrical light blue cup past <the shampoo container with dispensing pump> and rest it on <the light gray streaked wooden coaster>.",
+    "Carry the plastic cup for drinks toward <the coaster made of smooth wood>, keeping the path clear of <the rectangular dark green shampoo bottle>, then set down.",
+    "Move the light blue plastic cup to <the flat surface gray wooden coaster> while keeping its path away from <the shampoo bottle with smooth surface>.",
+    "Guide the smooth blue drinking cup with the arm around <the shampoo bottle with black pump> and onto <the wooden coaster>.",
+    "Use an arm to grab the smooth blue drinking cup, avoid the medium size shampoo bottle, and set the smooth blue drinking cup down on the coaster made of smooth wood.",
+    "Lift the rounded base blue cup, pass by the shampoo bottle with smooth surface without contact, then place the rounded base blue cup on the smooth round palm-sized coaster.",
+    "Carry the plastic cup for drinks toward the flat surface gray wooden coaster, keeping the plastic cup for drinks away from the plastic shampoo container, then set down.",
+    "Take the cup with smooth plastic surface, guide it away from <the green shampoo bottle>, and place the cup with smooth plastic surface squarely on <the small coaster with grain texture>.",
+    "Use an arm: pick the cup for holding liquids up, skirt <the shampoo bottle with matte black pump>, then place the cup for holding liquids onto <the light gray streaked wooden coaster>.",
+    "Using an arm, carry the medium blue cylindrical cup past <the rectangular dark green shampoo bottle> and place the medium blue cylindrical cup squarely on <the round coaster with light streaks>.",
+    "Move the medium blue cylindrical cup to the round coaster with light streaks without crossing the green shampoo bottle, then release the medium blue cylindrical cup.",
+    "Lift the plastic cup for drinks, guide it around <the shampoo bottle, green with black cap>, then put the plastic cup for drinks onto <the coaster made of smooth wood>.",
+    "Use an arm, keep the cup with smooth plastic surface from the shampoo bottle, green with black cap, and lower the cup with smooth plastic surface onto the coaster made of smooth wood.",
+    "Use an arm: take the cup with smooth plastic surface, avoid the shampoo container with dispensing pump during the move, and drop it on the wooden coaster.",
+    "Lift the smooth blue cup for liquids, go around the plastic shampoo container, and position the smooth blue cup for liquids squarely on the smooth round palm-sized coaster.",
+    "Pick up the light blue plastic cup, route it away from the green shampoo bottle, then set the light blue plastic cup on the flat round wooden coaster.",
+    "Lift the rounded base blue cup, pass beside <the shampoo bottle with black pump> without contact, then place the rounded base blue cup onto <the grainy texture coaster>.",
+    "Move the medium blue cylindrical cup to the flat round wooden coaster while avoiding the green shampoo bottle, then place the medium blue cylindrical cup on the flat round wooden coaster.",
+    "Lift the smooth blue drinking cup, guide it past the medium size shampoo bottle, and rest the smooth blue drinking cup on the small coaster with grain texture.",
+    "Carry the blue rounded-bottom cup toward <the coaster with circular shape>, skirting <the green shampoo bottle>, and set the blue rounded-bottom cup down.",
+    "Move the rounded base blue cup onto <the grainy texture coaster> and ensure the path stays away from <the rectangular green plastic shampoo dispenser>.",
+    "Take the medium-sized plastic blue cup, swing wide of the rectangular green plastic shampoo dispenser, then rest the medium-sized plastic blue cup on the light gray streaked wooden coaster.",
+    "Pick up the cup for holding liquids, guide it past the shampoo bottle with matte black pump, and drop the cup for holding liquids on the coaster made of smooth wood.",
+    "Take the cylindrical light blue cup, arc around <the rectangular dark green shampoo bottle>, and place the cylindrical light blue cup neatly on <the flat round wooden coaster>.",
+    "With an arm, lift the medium blue cylindrical cup, avoid the rectangular dark green shampoo bottle, and place the medium blue cylindrical cup on the coaster with circular shape.",
+    "Grab the plastic cup for drinks, swing it away from <the shampoo bottle, green with black cap>, and place the plastic cup for drinks on <the grainy texture coaster>.",
+    "Take the cup with smooth plastic surface to the round coaster with light streaks while skirting the shampoo bottle, green with black cap, then release the cup with smooth plastic surface on the round coaster with light streaks.",
+    "Use an arm to move the blue rounded-bottom cup around the plastic shampoo container and rest the blue rounded-bottom cup on the wooden coaster.",
+    "Lift the medium-sized plastic blue cup, route it away from the shampoo container with dispensing pump, then put the medium-sized plastic blue cup squarely on the coaster with circular shape.",
+    "Slide the smooth blue cup for liquids over to <the round coaster> without passing near <the shampoo bottle with matte black pump>.",
+    "Use an arm to bring the light blue plastic cup to the wooden coaster, keeping the light blue plastic cup clear of the medium size shampoo bottle.",
+    "Lift the medium blue cylindrical cup, arc around the medium size shampoo bottle, and place the medium blue cylindrical cup squarely on the wooden coaster.",
+    "Lift the smooth blue drinking cup, keep clear of the shampoo bottle, green with black cap, and put the smooth blue drinking cup down on the light gray streaked wooden coaster.",
+    "With an arm, bring the rounded base blue cup over to <the smooth round palm-sized coaster> and keep clear of <the shampoo bottle, green with black cap>.",
+    "Move the cylindrical light blue cup onto the grainy texture coaster while avoiding the plastic shampoo container, then let go of the cylindrical light blue cup.",
+    "Using an arm, grasp the cylindrical light blue cup, skirt the shampoo bottle with matte black pump, and place the cylindrical light blue cup atop the round coaster."
+  ],
+  "unseen": [
+    "Grab the small smooth cup, carry it around the dark green pump shampoo bottle, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the green bottle with pump top>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the green bottle with pump top>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the dark green pump shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the green bottle with pump top>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the dark green pump shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the dark green pump shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the green bottle with pump top, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle for personal use, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle for personal use>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the dark green pump shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the dark green pump shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the dark green pump shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle for personal use, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the dark green pump shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the green bottle with pump top, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the green bottle with pump top, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the dark green pump shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle for personal use>, and place the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the green bottle with pump top, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the dark green pump shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the dark green pump shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the green bottle with pump top, and place it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the green bottle with pump top, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the green bottle with pump top, then place the blue cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the dark green pump shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the dark green pump shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the dark green pump shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle for personal use, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the dark green pump shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle for personal use, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the dark green pump shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo bottle for personal use, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle for personal use>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the shampoo bottle for personal use>, and place the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle for personal use, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the green bottle with pump top>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the green bottle with pump top, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the dark green pump shampoo bottle, and place it on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the dark green pump shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle for personal use, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the dark green pump shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle for personal use>, and place it on <the light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the dark green pump shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the dark green pump shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle for personal use, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the dark green pump shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the dark green pump shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle for personal use, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the dark green pump shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the green bottle with pump top>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle for personal use, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, route it around <the green bottle with pump top>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the green bottle with pump top, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the green bottle with pump top, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the green bottle with pump top, then set the handheld round blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the green bottle with pump top, then place the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the dark green pump shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the green bottle with pump top>, and place it on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle for personal use>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the green bottle with pump top, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle for personal use, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the dark green pump shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the dark green pump shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the green bottle with pump top, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the green bottle with pump top>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around <the shampoo bottle for personal use>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle for personal use, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the green bottle with pump top>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the green bottle with pump top, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the green bottle with pump top, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the dark green pump shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the green bottle with pump top, then place the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle for personal use>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, guide it around <the dark green pump shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the dark green pump shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the dark green pump shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the green bottle with pump top, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the green bottle with pump top, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the dark green pump shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, carry it around the shampoo bottle for personal use, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the dark green pump shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the green bottle with pump top>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the dark green pump shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the dark green pump shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the green bottle with pump top, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle for personal use, and place it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle for personal use, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the green bottle with pump top, then place the blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the green bottle with pump top>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, guide it around <the dark green pump shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle for personal use>, then set the small smooth cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the dark green pump shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the green bottle with pump top, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the green bottle with pump top, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle for personal use, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the dark green pump shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the green bottle with pump top>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around <the shampoo bottle for personal use>, and place the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the dark green pump shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode87.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode87.json
new file mode 100644
index 0000000000000000000000000000000000000000..825a3977f0e8847d57fab04f42d36afd71fb9fdf
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode87.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the blue rounded-bottom cup to <the grainy texture coaster> while keeping the blue rounded-bottom cup away from <the medium shampoo container>, then release.",
+    "Lift the blue rounded-bottom cup, steer away from <the white bottle with golden accents>, then place the blue rounded-bottom cup on <the round coaster>.",
+    "Move the smooth blue drinking cup onto the small coaster with grain texture while avoiding the white shampoo bottle, then let go of the smooth blue drinking cup.",
+    "Use an arm to bring the plastic cup for drinks to the grainy texture coaster, keeping the plastic cup for drinks clear of the hand-held shampoo bottle.",
+    "Use an arm, take the blue rounded-bottom cup, avoid <the smooth shampoo container> on the way, and set on <the grainy texture coaster>.",
+    "Slide the plastic cup for drinks toward the round coaster, detouring around the plastic shampoo bottle with smooth surface, then set the plastic cup for drinks down.",
+    "Use an arm to move the blue rounded-bottom cup toward the coaster with circular shape, keeping the blue rounded-bottom cup clear of the white shampoo bottle with golden top.",
+    "Move the blue rounded-bottom cup to the light gray streaked wooden coaster without crossing the bottle for shampoo with glossy finish, then release the blue rounded-bottom cup.",
+    "Lift the smooth blue drinking cup, guide it past the medium shampoo container, and rest the smooth blue drinking cup on the flat surface gray wooden coaster.",
+    "Use an arm: grasp the cylindrical light blue cup, avoid <the smooth shampoo container>, and place the cylindrical light blue cup on <the coaster with circular shape>.",
+    "Lift the cup with smooth plastic surface, carry it around the smooth shampoo container, and place the cup with smooth plastic surface squarely on the wooden coaster.",
+    "Pick the cylindrical light blue cup up, route it away from the shampoo bottle with rectangular base, and drop the cylindrical light blue cup onto the smooth round palm-sized coaster.",
+    "With an arm, lift the smooth blue drinking cup, avoid the white shampoo bottle with golden top, and set the smooth blue drinking cup onto the grainy texture coaster.",
+    "Pick up the light blue plastic cup, keep clear of <the white shampoo bottle with golden top>, and drop the light blue plastic cup onto <the smooth round palm-sized coaster>.",
+    "Move the medium-sized plastic blue cup onto <the grainy texture coaster> and ensure the path stays away from <the white shampoo bottle>.",
+    "Lift the cup with smooth plastic surface, pass by the white shampoo bottle without contact, then place the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Use the arm to carry the cup with smooth plastic surface around the bottle with yellow cap, then rest the cup with smooth plastic surface on the grainy texture coaster.",
+    "Use an arm: grab the smooth blue cup for liquids, avoid the bottle with yellow cap on the way, then set the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Using an arm, grasp the cup for holding liquids, skirt the smooth shampoo container, and place the cup for holding liquids atop the round coaster with light streaks.",
+    "Using an arm, carry the medium-sized plastic blue cup past <the hand-held shampoo bottle> and place the medium-sized plastic blue cup squarely on <the wooden coaster>.",
+    "Secure the cup with smooth plastic surface, move it around the medium shampoo container, and place the cup with smooth plastic surface squarely on the grainy texture coaster.",
+    "Use an arm to move the light blue plastic cup around the white shampoo bottle and rest the light blue plastic cup on the smooth round palm-sized coaster.",
+    "Move the cup for holding liquids onto the grainy texture coaster while avoiding the shampoo bottle with rectangular base, then let go of the cup for holding liquids.",
+    "Take the medium blue cylindrical cup, guide it away from <the smooth shampoo container>, and place the medium blue cylindrical cup squarely on <the light gray round grainy coaster>.",
+    "Move the cup with light blue color to the flat surface gray wooden coaster while avoiding the shampoo bottle with rectangular base, then place the cup with light blue color on the flat surface gray wooden coaster.",
+    "Arm-lift the blue rounded-bottom cup, swing around <the white bottle with golden accents>, then place the blue rounded-bottom cup onto <the flat surface gray wooden coaster>.",
+    "Take the cup for holding liquids, arc around <the white shampoo bottle with golden top>, and place the cup for holding liquids neatly on <the wooden coaster>.",
+    "Grab the smooth blue drinking cup, route around the rectangular shampoo bottle with rounded top, then lower the smooth blue drinking cup onto the coaster made of smooth wood.",
+    "Take the plastic cup for drinks to the light gray streaked wooden coaster while skirting the white shampoo bottle, then release the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Carry the plastic cup for drinks toward the flat surface gray wooden coaster, keeping the plastic cup for drinks away from the bottle with yellow cap, then set down.",
+    "Use an arm to lift the blue rounded-bottom cup, arc around the plastic shampoo bottle with smooth surface, and place the blue rounded-bottom cup atop the grainy texture coaster.",
+    "Using an arm, pick the rounded base blue cup up, skirt the medium shampoo container, and place the rounded base blue cup on the round coaster with light streaks.",
+    "Guide the blue rounded-bottom cup with the arm around <the bottle for shampoo with glossy finish> and onto <the small coaster with grain texture>.",
+    "Lift the blue rounded-bottom cup, route it away from the shampoo bottle, then put the blue rounded-bottom cup squarely on the small coaster with grain texture.",
+    "Using an arm, move the cylindrical light blue cup to <the flat round wooden coaster> while avoiding <the bottle with yellow cap>, then release the cylindrical light blue cup.",
+    "Take the rounded base blue cup, swing wide of the bottle with yellow cap, then rest the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Take the cup with light blue color, keep its path away from the medium shampoo container, and drop the cup with light blue color on the light gray streaked wooden coaster.",
+    "Use an arm to lift the cup for holding liquids, keep distance from <the hand-held shampoo bottle>, and set the cup for holding liquids on <the small coaster with grain texture>.",
+    "With an arm, pick the blue rounded-bottom cup up, bypass <the white shampoo bottle with golden top>, then place the blue rounded-bottom cup on <the round coaster>.",
+    "Use the arm to lift the cup for holding liquids, pass the rectangular shampoo bottle with rounded top, and place the cup for holding liquids on the coaster with circular shape.",
+    "Using an arm, pick the plastic cup for drinks up, skirt the medium shampoo container, and place the plastic cup for drinks on the light gray round grainy coaster.",
+    "Use an arm, keep the blue rounded-bottom cup from the white shampoo bottle with golden top, and lower the blue rounded-bottom cup onto the light gray streaked wooden coaster.",
+    "Lift the cup with light blue color, guide it around <the medium shampoo container>, then put the cup with light blue color onto <the flat surface gray wooden coaster>.",
+    "Carry the medium-sized plastic blue cup toward <the flat surface gray wooden coaster>, keeping clear of <the plastic shampoo bottle with smooth surface>, and set the medium-sized plastic blue cup down.",
+    "Grab the medium blue cylindrical cup, swing it away from <the hand-held shampoo bottle>, and place the medium blue cylindrical cup on <the light gray round grainy coaster>.",
+    "Lift the light blue plastic cup, pass beside <the bottle for shampoo with glossy finish> without contact, then place the light blue plastic cup onto <the coaster with circular shape>.",
+    "Secure the cup with light blue color, keep its path away from the shampoo bottle with rectangular base, and set the cup with light blue color on the round coaster with light streaks.",
+    "Pick up the medium-sized plastic blue cup, keep its path away from <the shampoo bottle>, and set the medium-sized plastic blue cup on <the flat surface gray wooden coaster>.",
+    "Slide the medium blue cylindrical cup over to <the coaster with circular shape> without passing near <the shampoo bottle with rectangular base>.",
+    "Grab the light blue plastic cup, guide it away from the smooth shampoo container, and set the light blue plastic cup neatly on the round coaster with light streaks.",
+    "With an arm, lift the light blue plastic cup, avoid <the white shampoo bottle with golden top> on the way, and drop the light blue plastic cup on <the smooth round palm-sized coaster>.",
+    "Use an arm, pick the cup with light blue color up, pass around the shampoo bottle with rectangular base, then place the cup with light blue color on the grainy texture coaster.",
+    "Use an arm to grab the cup with light blue color, avoid the white bottle with golden accents, and set the cup with light blue color down on the smooth round palm-sized coaster.",
+    "Use an arm: pick the medium blue cylindrical cup up, skirt <the medium shampoo container>, then place the medium blue cylindrical cup onto <the light gray streaked wooden coaster>.",
+    "With an arm, take the light blue plastic cup, avoid the rectangular shampoo bottle with rounded top, and put the light blue plastic cup on the wooden coaster.",
+    "Take the cylindrical light blue cup, keep its path away from the rectangular shampoo bottle with rounded top, and place the cylindrical light blue cup on the round coaster with light streaks.",
+    "With an arm, move the cup with smooth plastic surface past the white shampoo bottle and place the cup with smooth plastic surface on the small coaster with grain texture.",
+    "Use the arm to move the cup with smooth plastic surface past <the rectangular shampoo bottle with rounded top> and rest it on <the grainy texture coaster>.",
+    "Use an arm, take the medium-sized plastic blue cup past the shampoo bottle with rectangular base without nearing it, and rest the medium-sized plastic blue cup on the round coaster.",
+    "Lift the light blue plastic cup, keep clear of the bottle with yellow cap, and put the light blue plastic cup down on the grainy texture coaster.",
+    "Use an arm to take the blue rounded-bottom cup around <the shampoo bottle with rectangular base> and place the blue rounded-bottom cup on <the flat surface gray wooden coaster>.",
+    "With an arm, lift the medium blue cylindrical cup, route past <the hand-held shampoo bottle>, and drop the medium blue cylindrical cup onto <the round coaster with light streaks>.",
+    "With an arm, lift the medium blue cylindrical cup, keep it away from the white shampoo bottle, and drop it onto the smooth round palm-sized coaster.",
+    "Lift the medium-sized plastic blue cup, go around the bottle for shampoo with glossy finish, and position the medium-sized plastic blue cup squarely on the round coaster with light streaks.",
+    "With an arm, lift the cup with smooth plastic surface, guide it past the shampoo bottle, and put the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Move the light blue plastic cup to <the wooden coaster> while keeping its path away from <the plastic shampoo bottle with smooth surface>.",
+    "Use an arm to move the cylindrical light blue cup to the flat surface gray wooden coaster, keeping the cylindrical light blue cup from bumping the bottle for shampoo with glossy finish.",
+    "Take the cylindrical light blue cup, route it away from the white shampoo bottle, and set the cylindrical light blue cup onto the round coaster.",
+    "Pick up the medium-sized plastic blue cup, avoid the shampoo bottle with rectangular base along the way, and place the medium-sized plastic blue cup on the wooden coaster.",
+    "Move the light blue plastic cup toward the grainy texture coaster without passing near the plastic shampoo bottle with smooth surface, then set it down.",
+    "Use an arm: take the cup for holding liquids, avoid the medium shampoo container during the move, and drop it on the coaster with circular shape.",
+    "Carry the rounded base blue cup toward <the flat surface gray wooden coaster>, skirting <the smooth shampoo container>, and set the rounded base blue cup down.",
+    "Pick up the smooth blue drinking cup, guide it past the smooth shampoo container, and drop the smooth blue drinking cup on the flat surface gray wooden coaster.",
+    "Carry the blue rounded-bottom cup toward <the light gray streaked wooden coaster>, keeping the path clear of <the plastic shampoo bottle with smooth surface>, then set down.",
+    "Take the light blue plastic cup in the arm, route around <the shampoo bottle with rectangular base>, and set it on <the flat round wooden coaster>.",
+    "Lift the rounded base blue cup, arc around the plastic shampoo bottle with smooth surface, and place the rounded base blue cup squarely on the light gray streaked wooden coaster.",
+    "Pick up the medium-sized plastic blue cup, route it away from the hand-held shampoo bottle, then set the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "With an arm, lift the smooth blue cup for liquids, avoid the medium shampoo container, and place the smooth blue cup for liquids on the wooden coaster.",
+    "Using an arm, carry the cylindrical light blue cup around the shampoo bottle with rectangular base and place the cylindrical light blue cup onto the coaster with circular shape.",
+    "With an arm, bring the cup with light blue color over to <the grainy texture coaster> and keep clear of <the white shampoo bottle>.",
+    "Move the cylindrical light blue cup to <the round coaster with light streaks> while keeping the cylindrical light blue cup away from <the shampoo bottle with rectangular base>, then release.",
+    "Lift the plastic cup for drinks, steer away from <the shampoo bottle with rectangular base>, then place the plastic cup for drinks on <the flat round wooden coaster>.",
+    "Move the cup with smooth plastic surface onto the flat surface gray wooden coaster while avoiding the medium shampoo container, then let go of the cup with smooth plastic surface.",
+    "Use an arm to bring the cup with light blue color to the small coaster with grain texture, keeping the cup with light blue color clear of the white shampoo bottle with golden top.",
+    "Use an arm, take the light blue plastic cup, avoid <the rectangular shampoo bottle with rounded top> on the way, and set on <the round coaster>.",
+    "Slide the medium-sized plastic blue cup toward the smooth round palm-sized coaster, detouring around the hand-held shampoo bottle, then set the medium-sized plastic blue cup down.",
+    "Use an arm to move the medium blue cylindrical cup toward the wooden coaster, keeping the medium blue cylindrical cup clear of the bottle for shampoo with glossy finish.",
+    "Move the cup with smooth plastic surface to the grainy texture coaster without crossing the white shampoo bottle, then release the cup with smooth plastic surface.",
+    "Lift the blue rounded-bottom cup, guide it past the white shampoo bottle with golden top, and rest the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "Use an arm: grasp the medium-sized plastic blue cup, avoid <the bottle for shampoo with glossy finish>, and place the medium-sized plastic blue cup on <the light gray round grainy coaster>.",
+    "Lift the medium blue cylindrical cup, carry it around the rectangular shampoo bottle with rounded top, and place the medium blue cylindrical cup squarely on the round coaster.",
+    "Pick the cup with light blue color up, route it away from the hand-held shampoo bottle, and drop the cup with light blue color onto the flat surface gray wooden coaster.",
+    "With an arm, lift the rounded base blue cup, avoid the rectangular shampoo bottle with rounded top, and set the rounded base blue cup onto the smooth round palm-sized coaster.",
+    "Pick up the rounded base blue cup, keep clear of <the white bottle with golden accents>, and drop the rounded base blue cup onto <the round coaster with light streaks>.",
+    "Move the plastic cup for drinks onto <the grainy texture coaster> and ensure the path stays away from <the bottle with yellow cap>.",
+    "Lift the light blue plastic cup, pass by the white shampoo bottle without contact, then place the light blue plastic cup on the coaster made of smooth wood.",
+    "Use the arm to carry the plastic cup for drinks around the hand-held shampoo bottle, then rest the plastic cup for drinks on the coaster with circular shape.",
+    "Use an arm: grab the cup with smooth plastic surface, avoid the shampoo bottle with rectangular base on the way, then set the cup with smooth plastic surface on the round coaster.",
+    "Using an arm, grasp the rounded base blue cup, skirt the medium shampoo container, and place the rounded base blue cup atop the light gray streaked wooden coaster.",
+    "Using an arm, carry the medium blue cylindrical cup past <the smooth shampoo container> and place the medium blue cylindrical cup squarely on <the wooden coaster>."
+  ],
+  "unseen": [
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle with rounded yellow cap, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the medium-sized shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the medium-sized shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the white plastic shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the medium-sized shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the medium-sized shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the white plastic shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the medium-sized shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the white plastic shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the white plastic shampoo bottle, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the white plastic shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the medium-sized shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the medium-sized shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with rounded yellow cap, then set the small smooth cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, route it around <the white plastic shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the white plastic shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white plastic shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the white plastic shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the medium-sized shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with rounded yellow cap, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the white plastic shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the white plastic shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the medium-sized shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the medium-sized shampoo bottle>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around <the medium-sized shampoo bottle>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the medium-sized shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the blue cup down on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the medium-sized shampoo bottle, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with rounded yellow cap, and set it on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the white plastic shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the medium-sized shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with rounded yellow cap, then set the small smooth cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, route it around <the white plastic shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the medium-sized shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the white plastic shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the medium-sized shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the white plastic shampoo bottle>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the white plastic shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the medium-sized shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the white plastic shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the white plastic shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the white plastic shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the medium-sized shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the white plastic shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the white plastic shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the medium-sized shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the white plastic shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the medium-sized shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with rounded yellow cap, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set it on the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with rounded yellow cap>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, steer it around the medium-sized shampoo bottle, then set the blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the white plastic shampoo bottle>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the medium-sized shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the white plastic shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the medium-sized shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the white plastic shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the medium-sized shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white plastic shampoo bottle, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the medium-sized shampoo bottle, and set it on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the medium-sized shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the white plastic shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode88.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode88.json
new file mode 100644
index 0000000000000000000000000000000000000000..f52372ae74ae4e0530ba29e447a17c08205f2c96
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode88.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm: pick the cup with light blue color up, skirt <the plastic shampoo bottle with smooth surface>, then place the cup with light blue color onto <the small coaster with grain texture>.",
+    "Use the arm to move the smooth blue drinking cup past <the white bottle with golden accents> and rest it on <the round coaster>.",
+    "Pick up the cup for holding liquids, keep its path away from <the plastic shampoo bottle with smooth surface>, and set the cup for holding liquids on <the small coaster with grain texture>.",
+    "Grab the smooth blue drinking cup, guide it away from the bottle for shampoo with glossy finish, and set the smooth blue drinking cup neatly on the round coaster with light streaks.",
+    "Take the light blue plastic cup, keep its path away from the bottle for shampoo with glossy finish, and place the light blue plastic cup on the light gray round grainy coaster.",
+    "Use an arm to move the cup with smooth plastic surface to the smooth round palm-sized coaster, keeping the cup with smooth plastic surface from bumping the rectangular shampoo bottle with rounded top.",
+    "Carry the light blue plastic cup toward <the round coaster with light streaks>, keeping clear of <the rectangular shampoo bottle with rounded top>, and set the light blue plastic cup down.",
+    "Take the smooth blue cup for liquids, swing wide of the plastic shampoo bottle with smooth surface, then rest the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Use an arm to grab the cup for holding liquids, avoid the bottle for shampoo with glossy finish, and set the cup for holding liquids down on the grainy texture coaster.",
+    "Lift the light blue plastic cup, route it away from the bottle with yellow cap, then put the light blue plastic cup squarely on the smooth round palm-sized coaster.",
+    "Lift the smooth blue cup for liquids, arc around the smooth shampoo container, and place the smooth blue cup for liquids squarely on the flat surface gray wooden coaster.",
+    "Arm-lift the plastic cup for drinks, swing around <the rectangular shampoo bottle with rounded top>, then place the plastic cup for drinks onto <the flat round wooden coaster>.",
+    "Move the plastic cup for drinks onto the flat round wooden coaster while avoiding the plastic shampoo bottle with smooth surface, then let go of the plastic cup for drinks.",
+    "Carry the medium-sized plastic blue cup toward the grainy texture coaster, keeping the medium-sized plastic blue cup away from the white shampoo bottle, then set down.",
+    "With an arm, take the cylindrical light blue cup, avoid the white shampoo bottle with golden top, and put the cylindrical light blue cup on the round coaster.",
+    "Lift the cup with smooth plastic surface, guide it around <the plastic shampoo bottle with smooth surface>, then put the cup with smooth plastic surface onto <the light gray round grainy coaster>.",
+    "With an arm, lift the cup with light blue color, route past <the smooth shampoo container>, and drop the cup with light blue color onto <the flat round wooden coaster>.",
+    "Carry the medium blue cylindrical cup toward <the flat round wooden coaster>, keeping the path clear of <the hand-held shampoo bottle>, then set down.",
+    "Use an arm: grab the blue rounded-bottom cup, avoid the rectangular shampoo bottle with rounded top on the way, then set the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Lift the plastic cup for drinks, go around the white shampoo bottle with golden top, and position the plastic cup for drinks squarely on the round coaster with light streaks.",
+    "Take the smooth blue cup for liquids to the small coaster with grain texture while skirting the white shampoo bottle with golden top, then release the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Secure the cylindrical light blue cup, move it around the bottle for shampoo with glossy finish, and place the cylindrical light blue cup squarely on the light gray streaked wooden coaster.",
+    "Using an arm, carry the smooth blue cup for liquids past <the shampoo bottle with rectangular base> and place the smooth blue cup for liquids squarely on <the flat round wooden coaster>.",
+    "Use an arm: grasp the rounded base blue cup, avoid <the white shampoo bottle with golden top>, and place the rounded base blue cup on <the smooth round palm-sized coaster>.",
+    "Use an arm to bring the plastic cup for drinks to the smooth round palm-sized coaster, keeping the plastic cup for drinks clear of the bottle with yellow cap.",
+    "Using an arm, carry the cup with smooth plastic surface around the shampoo bottle and place the cup with smooth plastic surface onto the coaster with circular shape.",
+    "Pick up the smooth blue drinking cup, avoid the smooth shampoo container along the way, and place the smooth blue drinking cup on the coaster made of smooth wood.",
+    "With an arm, bring the plastic cup for drinks over to <the round coaster with light streaks> and keep clear of <the shampoo bottle>.",
+    "Using an arm, pick the cup for holding liquids up, skirt the medium shampoo container, and place the cup for holding liquids on the flat round wooden coaster.",
+    "Move the light blue plastic cup to <the smooth round palm-sized coaster> while keeping its path away from <the medium shampoo container>.",
+    "Move the smooth blue cup for liquids to the small coaster with grain texture without crossing the smooth shampoo container, then release the smooth blue cup for liquids.",
+    "With an arm, lift the medium blue cylindrical cup, avoid <the medium shampoo container> on the way, and drop the medium blue cylindrical cup on <the flat round wooden coaster>.",
+    "Move the smooth blue drinking cup onto <the grainy texture coaster> and ensure the path stays away from <the medium shampoo container>.",
+    "Pick the cup for holding liquids up, route it away from the hand-held shampoo bottle, and drop the cup for holding liquids onto the light gray round grainy coaster.",
+    "Use an arm to lift the medium blue cylindrical cup, keep distance from <the bottle with yellow cap>, and set the medium blue cylindrical cup on <the wooden coaster>.",
+    "Move the medium blue cylindrical cup onto the light gray streaked wooden coaster while avoiding the hand-held shampoo bottle, then let go of the medium blue cylindrical cup.",
+    "Lift the medium-sized plastic blue cup, keep clear of the rectangular shampoo bottle with rounded top, and put the medium-sized plastic blue cup down on the flat round wooden coaster.",
+    "With an arm, lift the plastic cup for drinks, keep it away from the medium shampoo container, and drop it onto the coaster with circular shape.",
+    "Pick up the rounded base blue cup, guide it past the medium shampoo container, and drop the rounded base blue cup on the wooden coaster.",
+    "Take the medium-sized plastic blue cup, arc around <the bottle with yellow cap>, and place the medium-sized plastic blue cup neatly on <the wooden coaster>.",
+    "Using an arm, move the smooth blue drinking cup to <the light gray streaked wooden coaster> while avoiding <the shampoo bottle>, then release the smooth blue drinking cup.",
+    "Lift the cup for holding liquids, guide it past the hand-held shampoo bottle, and rest the cup for holding liquids on the light gray round grainy coaster.",
+    "With an arm, pick the cup with light blue color up, bypass <the medium shampoo container>, then place the cup with light blue color on <the flat round wooden coaster>.",
+    "Pick up the smooth blue cup for liquids, route it away from the rectangular shampoo bottle with rounded top, then set the smooth blue cup for liquids on the coaster made of smooth wood.",
+    "With an arm, lift the cylindrical light blue cup, guide it past the rectangular shampoo bottle with rounded top, and put the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Guide the rounded base blue cup with the arm around <the rectangular shampoo bottle with rounded top> and onto <the light gray round grainy coaster>.",
+    "Use an arm to move the smooth blue cup for liquids toward the small coaster with grain texture, keeping the smooth blue cup for liquids clear of the smooth shampoo container.",
+    "Lift the medium blue cylindrical cup, pass beside <the medium shampoo container> without contact, then place the medium blue cylindrical cup onto <the light gray round grainy coaster>.",
+    "Use an arm to take the medium-sized plastic blue cup around <the white shampoo bottle with golden top> and place the medium-sized plastic blue cup on <the small coaster with grain texture>.",
+    "Move the rounded base blue cup to the smooth round palm-sized coaster while avoiding the bottle for shampoo with glossy finish, then place the rounded base blue cup on the smooth round palm-sized coaster.",
+    "Move the medium blue cylindrical cup toward the flat round wooden coaster without passing near the white shampoo bottle with golden top, then set it down.",
+    "Use an arm to lift the light blue plastic cup, arc around the medium shampoo container, and place the light blue plastic cup atop the round coaster.",
+    "Take the cylindrical light blue cup, guide it away from <the bottle with yellow cap>, and place the cylindrical light blue cup squarely on <the coaster with circular shape>.",
+    "Use an arm: take the cylindrical light blue cup, avoid the white shampoo bottle during the move, and drop it on the coaster made of smooth wood.",
+    "With an arm, lift the cylindrical light blue cup, avoid the medium shampoo container, and place the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Use an arm to move the rounded base blue cup around the plastic shampoo bottle with smooth surface and rest the rounded base blue cup on the light gray round grainy coaster.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the hand-held shampoo bottle, and set the cup with smooth plastic surface onto the flat round wooden coaster.",
+    "Lift the medium-sized plastic blue cup, steer away from <the hand-held shampoo bottle>, then place the medium-sized plastic blue cup on <the coaster made of smooth wood>.",
+    "Use an arm, take the plastic cup for drinks past the rectangular shampoo bottle with rounded top without nearing it, and rest the plastic cup for drinks on the coaster made of smooth wood.",
+    "With an arm, move the medium-sized plastic blue cup past the plastic shampoo bottle with smooth surface and place the medium-sized plastic blue cup on the light gray round grainy coaster.",
+    "Use an arm, keep the blue rounded-bottom cup from the bottle for shampoo with glossy finish, and lower the blue rounded-bottom cup onto the flat round wooden coaster.",
+    "Using an arm, pick the medium blue cylindrical cup up, skirt the hand-held shampoo bottle, and place the medium blue cylindrical cup on the coaster made of smooth wood.",
+    "Take the medium-sized plastic blue cup, keep its path away from the plastic shampoo bottle with smooth surface, and drop the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Grab the cup for holding liquids, route around the hand-held shampoo bottle, then lower the cup for holding liquids onto the coaster made of smooth wood.",
+    "Use the arm to lift the medium-sized plastic blue cup, pass the white bottle with golden accents, and place the medium-sized plastic blue cup on the round coaster.",
+    "Carry the rounded base blue cup toward <the wooden coaster>, skirting <the white shampoo bottle>, and set the rounded base blue cup down.",
+    "Take the blue rounded-bottom cup, route it away from the white shampoo bottle, and set the blue rounded-bottom cup onto the round coaster with light streaks.",
+    "Take the cylindrical light blue cup in the arm, route around <the white shampoo bottle>, and set it on <the wooden coaster>.",
+    "Use an arm, pick the cup with smooth plastic surface up, pass around the shampoo bottle, then place the cup with smooth plastic surface on the small coaster with grain texture.",
+    "Slide the smooth blue cup for liquids toward the coaster made of smooth wood, detouring around the bottle with yellow cap, then set the smooth blue cup for liquids down.",
+    "Move the medium-sized plastic blue cup to <the flat round wooden coaster> while keeping the medium-sized plastic blue cup away from <the bottle with yellow cap>, then release.",
+    "Lift the cup with smooth plastic surface, pass by the smooth shampoo container without contact, then place the cup with smooth plastic surface on the light gray streaked wooden coaster.",
+    "Using an arm, grasp the medium-sized plastic blue cup, skirt the white shampoo bottle, and place the medium-sized plastic blue cup atop the smooth round palm-sized coaster.",
+    "Secure the blue rounded-bottom cup, keep its path away from the bottle for shampoo with glossy finish, and set the blue rounded-bottom cup on the wooden coaster.",
+    "Lift the smooth blue cup for liquids, carry it around the smooth shampoo container, and place the smooth blue cup for liquids squarely on the coaster made of smooth wood.",
+    "Use an arm, take the medium blue cylindrical cup, avoid <the rectangular shampoo bottle with rounded top> on the way, and set on <the small coaster with grain texture>.",
+    "Pick up the cup with smooth plastic surface, keep clear of <the hand-held shampoo bottle>, and drop the cup with smooth plastic surface onto <the round coaster with light streaks>.",
+    "Slide the smooth blue drinking cup over to <the light gray round grainy coaster> without passing near <the white shampoo bottle with golden top>.",
+    "Use the arm to carry the cup for holding liquids around the white shampoo bottle with golden top, then rest the cup for holding liquids on the light gray round grainy coaster.",
+    "Grab the cup with light blue color, swing it away from <the white shampoo bottle>, and place the cup with light blue color on <the smooth round palm-sized coaster>.",
+    "Use an arm: pick the cup for holding liquids up, skirt <the white shampoo bottle>, then place the cup for holding liquids onto <the small coaster with grain texture>.",
+    "Use the arm to move the blue rounded-bottom cup past <the hand-held shampoo bottle> and rest it on <the coaster made of smooth wood>.",
+    "Pick up the light blue plastic cup, keep its path away from <the rectangular shampoo bottle with rounded top>, and set the light blue plastic cup on <the light gray streaked wooden coaster>.",
+    "Grab the smooth blue drinking cup, guide it away from the rectangular shampoo bottle with rounded top, and set the smooth blue drinking cup neatly on the coaster made of smooth wood.",
+    "Take the cup for holding liquids, keep its path away from the shampoo bottle with rectangular base, and place the cup for holding liquids on the grainy texture coaster.",
+    "Use an arm to move the medium-sized plastic blue cup to the light gray round grainy coaster, keeping the medium-sized plastic blue cup from bumping the shampoo bottle.",
+    "Carry the cup for holding liquids toward <the small coaster with grain texture>, keeping clear of <the white shampoo bottle with golden top>, and set the cup for holding liquids down.",
+    "Take the plastic cup for drinks, swing wide of the shampoo bottle with rectangular base, then rest the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Use an arm to grab the light blue plastic cup, avoid the bottle for shampoo with glossy finish, and set the light blue plastic cup down on the coaster with circular shape.",
+    "Lift the plastic cup for drinks, route it away from the hand-held shampoo bottle, then put the plastic cup for drinks squarely on the coaster with circular shape.",
+    "Lift the plastic cup for drinks, arc around the medium shampoo container, and place the plastic cup for drinks squarely on the round coaster.",
+    "Arm-lift the cylindrical light blue cup, swing around <the plastic shampoo bottle with smooth surface>, then place the cylindrical light blue cup onto <the small coaster with grain texture>.",
+    "Move the smooth blue drinking cup onto the round coaster while avoiding the shampoo bottle, then let go of the smooth blue drinking cup.",
+    "Carry the light blue plastic cup toward the wooden coaster, keeping the light blue plastic cup away from the white bottle with golden accents, then set down.",
+    "With an arm, take the rounded base blue cup, avoid the white shampoo bottle, and put the rounded base blue cup on the coaster with circular shape.",
+    "Lift the light blue plastic cup, guide it around <the smooth shampoo container>, then put the light blue plastic cup onto <the flat round wooden coaster>.",
+    "With an arm, lift the medium-sized plastic blue cup, route past <the hand-held shampoo bottle>, and drop the medium-sized plastic blue cup onto <the flat surface gray wooden coaster>.",
+    "Carry the cup for holding liquids toward <the coaster made of smooth wood>, keeping the path clear of <the bottle for shampoo with glossy finish>, then set down.",
+    "Use an arm: grab the medium blue cylindrical cup, avoid the rectangular shampoo bottle with rounded top on the way, then set the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Lift the medium-sized plastic blue cup, go around the shampoo bottle, and position the medium-sized plastic blue cup squarely on the round coaster with light streaks."
+  ],
+  "unseen": [
+    "Grab the blue cup, route it around <the medium-sized shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the medium-sized shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the white plastic shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Grab the blue cup, steer it around the white plastic shampoo bottle, then set the blue cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white plastic shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the medium-sized shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the medium-sized shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the medium-sized shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white plastic shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the medium-sized shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the medium-sized shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the white plastic shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, route it around <the white plastic shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the shampoo bottle with rounded yellow cap, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the medium-sized shampoo bottle, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the white plastic shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the medium-sized shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the white plastic shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the medium-sized shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the medium-sized shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the medium-sized shampoo bottle>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the white plastic shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the medium-sized shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the medium-sized shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the medium-sized shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the medium-sized shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the white plastic shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the white plastic shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with rounded yellow cap>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the medium-sized shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white plastic shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white plastic shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with rounded yellow cap, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the white plastic shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white plastic shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the white plastic shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, route it around <the medium-sized shampoo bottle>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the medium-sized shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle with rounded yellow cap, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, steer it around the medium-sized shampoo bottle, then set the blue cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the medium-sized shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white plastic shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the white plastic shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the medium-sized shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with rounded yellow cap>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the white plastic shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the medium-sized shampoo bottle>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the white plastic shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the medium-sized shampoo bottle, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the medium-sized shampoo bottle, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with rounded yellow cap, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with rounded yellow cap, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the medium-sized shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the white plastic shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white plastic shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with rounded yellow cap>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the shampoo bottle with rounded yellow cap>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the white plastic shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the medium-sized shampoo bottle, and place the handheld round blue cup on the disc-shaped light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode89.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode89.json
new file mode 100644
index 0000000000000000000000000000000000000000..7023e315a19bbd86920070a51b3f6622fb146414
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode89.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the plastic cup for drinks to the round coaster while skirting the medium-sized white plastic shampoo, then release the plastic cup for drinks on the round coaster.",
+    "Use the arm to move the blue rounded-bottom cup past <the plastic shampoo with orange label> and rest it on <the flat round wooden coaster>.",
+    "Carry the plastic cup for drinks toward the light gray round grainy coaster, keeping the plastic cup for drinks away from the handheld shampoo container, then set down.",
+    "Take the plastic cup for drinks, keep its path away from the curved shampoo bottle, and place the plastic cup for drinks on the coaster with circular shape.",
+    "Grab the smooth blue cup for liquids, swing it away from <the bottle with hexagonal blue cap>, and place the smooth blue cup for liquids on <the round coaster>.",
+    "Take the medium blue cylindrical cup, keep its path away from the plastic shampoo bottle, and drop the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Use an arm, take the medium-sized plastic blue cup past the medium-sized white plastic shampoo without nearing it, and rest the medium-sized plastic blue cup on the grainy texture coaster.",
+    "Move the cylindrical light blue cup onto the flat surface gray wooden coaster while avoiding the handheld shampoo container, then let go of the cylindrical light blue cup.",
+    "Use an arm to take the rounded base blue cup around <the medium-sized white plastic shampoo> and place the rounded base blue cup on <the wooden coaster>.",
+    "Lift the smooth blue cup for liquids, route it away from the bottle with smooth surface, then put the smooth blue cup for liquids squarely on the flat surface gray wooden coaster.",
+    "With an arm, lift the medium blue cylindrical cup, avoid the blue top shampoo bottle, and set the medium blue cylindrical cup onto the grainy texture coaster.",
+    "Secure the rounded base blue cup, move it around the shampoo bottle with curved sides, and place the rounded base blue cup squarely on the grainy texture coaster.",
+    "With an arm, pick the rounded base blue cup up, bypass <the bottle with smooth surface>, then place the rounded base blue cup on <the small coaster with grain texture>.",
+    "Take the medium blue cylindrical cup, route it away from the shampoo bottle with curved sides, and set the medium blue cylindrical cup onto the smooth round palm-sized coaster.",
+    "Move the cup with light blue color to the small coaster with grain texture while avoiding the shampoo bottle with blue cap, then place the cup with light blue color on the small coaster with grain texture.",
+    "Using an arm, carry the plastic cup for drinks around the plastic shampoo bottle and place the plastic cup for drinks onto the grainy texture coaster.",
+    "Secure the medium blue cylindrical cup, keep its path away from the bottle with hexagonal blue cap, and set the medium blue cylindrical cup on the grainy texture coaster.",
+    "Lift the light blue plastic cup, steer away from <the plastic shampoo bottle>, then place the light blue plastic cup on <the round coaster with light streaks>.",
+    "Using an arm, move the cup with smooth plastic surface to <the light gray round grainy coaster> while avoiding <the plastic shampoo with orange label>, then release the cup with smooth plastic surface.",
+    "Lift the smooth blue drinking cup, carry it around the plastic shampoo with orange label, and place the smooth blue drinking cup squarely on the light gray streaked wooden coaster.",
+    "Use the arm to lift the cylindrical light blue cup, pass the curved shampoo bottle, and place the cylindrical light blue cup on the coaster made of smooth wood.",
+    "With an arm, lift the medium blue cylindrical cup, route past <the handheld shampoo container>, and drop the medium blue cylindrical cup onto <the flat surface gray wooden coaster>.",
+    "Carry the smooth blue cup for liquids toward <the coaster made of smooth wood>, skirting <the medium-sized white plastic shampoo>, and set the smooth blue cup for liquids down.",
+    "Carry the light blue plastic cup toward <the flat surface gray wooden coaster>, keeping the path clear of <the shampoo bottle with curved sides>, then set down.",
+    "With an arm, lift the light blue plastic cup, avoid the bottle with hexagonal blue cap, and place the light blue plastic cup on the flat round wooden coaster.",
+    "With an arm, lift the medium blue cylindrical cup, guide it past the plastic shampoo with orange label, and put the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Lift the medium-sized plastic blue cup, guide it past the plastic shampoo bottle, and rest the medium-sized plastic blue cup on the wooden coaster.",
+    "Use an arm to grab the plastic cup for drinks, avoid the shampoo bottle with blue cap, and set the plastic cup for drinks down on the coaster with circular shape.",
+    "With an arm, lift the medium blue cylindrical cup, keep it away from the bottle with hexagonal blue cap, and drop it onto the wooden coaster.",
+    "With an arm, move the cylindrical light blue cup past the medium-sized white plastic shampoo and place the cylindrical light blue cup on the flat round wooden coaster.",
+    "Use an arm: take the cup with smooth plastic surface, avoid the shampoo bottle with curved sides during the move, and drop it on the round coaster.",
+    "Use an arm, pick the smooth blue drinking cup up, pass around the blue top shampoo bottle, then place the smooth blue drinking cup on the coaster with circular shape.",
+    "Use an arm to move the plastic cup for drinks around the handheld shampoo container and rest the plastic cup for drinks on the small coaster with grain texture.",
+    "Pick up the medium blue cylindrical cup, route it away from the plastic shampoo with orange label, then set the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Grab the light blue plastic cup, guide it away from the blue top shampoo bottle, and set the light blue plastic cup neatly on the light gray round grainy coaster.",
+    "Move the cup for holding liquids to <the flat surface gray wooden coaster> while keeping the cup for holding liquids away from <the bottle with hexagonal blue cap>, then release.",
+    "With an arm, take the cup with light blue color, avoid the bottle with smooth surface, and put the cup with light blue color on the flat round wooden coaster.",
+    "Take the cylindrical light blue cup, guide it away from <the shampoo bottle with curved sides>, and place the cylindrical light blue cup squarely on <the coaster made of smooth wood>.",
+    "Use an arm: grab the cylindrical light blue cup, avoid the plastic shampoo bottle on the way, then set the cylindrical light blue cup on the flat round wooden coaster.",
+    "Use an arm, take the medium blue cylindrical cup, avoid <the white shampoo bottle> on the way, and set on <the round coaster>.",
+    "Carry the blue rounded-bottom cup toward <the light gray round grainy coaster>, keeping clear of <the medium-sized white plastic shampoo>, and set the blue rounded-bottom cup down.",
+    "Lift the rounded base blue cup, keep clear of the curved shampoo bottle, and put the rounded base blue cup down on the small coaster with grain texture.",
+    "Use an arm: grasp the rounded base blue cup, avoid <the bottle with smooth surface>, and place the rounded base blue cup on <the smooth round palm-sized coaster>.",
+    "Guide the plastic cup for drinks with the arm around <the white shampoo bottle> and onto <the small coaster with grain texture>.",
+    "Use an arm to move the medium blue cylindrical cup to the light gray streaked wooden coaster, keeping the medium blue cylindrical cup from bumping the white and blue shampoo container.",
+    "Use the arm to carry the plastic cup for drinks around the shampoo bottle with curved sides, then rest the plastic cup for drinks on the round coaster with light streaks.",
+    "Move the blue rounded-bottom cup to <the small coaster with grain texture> while keeping its path away from <the blue top shampoo bottle>.",
+    "Lift the cylindrical light blue cup, arc around the plastic shampoo bottle, and place the cylindrical light blue cup squarely on the coaster with circular shape.",
+    "Move the cup with light blue color onto <the small coaster with grain texture> and ensure the path stays away from <the curved shampoo bottle>.",
+    "Using an arm, pick the smooth blue drinking cup up, skirt the white shampoo bottle, and place the smooth blue drinking cup on the light gray round grainy coaster.",
+    "Arm-lift the cylindrical light blue cup, swing around <the plastic shampoo with orange label>, then place the cylindrical light blue cup onto <the coaster made of smooth wood>.",
+    "Use an arm, keep the plastic cup for drinks from the curved shampoo bottle, and lower the plastic cup for drinks onto the smooth round palm-sized coaster.",
+    "Lift the cylindrical light blue cup, guide it around <the white shampoo bottle>, then put the cylindrical light blue cup onto <the coaster made of smooth wood>.",
+    "Use an arm to bring the smooth blue cup for liquids to the flat round wooden coaster, keeping the smooth blue cup for liquids clear of the shampoo bottle with blue cap.",
+    "Pick the medium blue cylindrical cup up, route it away from the plastic shampoo bottle, and drop the medium blue cylindrical cup onto the coaster with circular shape.",
+    "Using an arm, pick the rounded base blue cup up, skirt the plastic shampoo with orange label, and place the rounded base blue cup on the coaster made of smooth wood.",
+    "Using an arm, carry the blue rounded-bottom cup past <the white shampoo bottle> and place the blue rounded-bottom cup squarely on <the light gray round grainy coaster>.",
+    "Use an arm to lift the smooth blue cup for liquids, keep distance from <the white and blue shampoo container>, and set the smooth blue cup for liquids on <the wooden coaster>.",
+    "With an arm, bring the smooth blue cup for liquids over to <the round coaster with light streaks> and keep clear of <the medium-sized white plastic shampoo>.",
+    "Pick up the blue rounded-bottom cup, avoid the blue top shampoo bottle along the way, and place the blue rounded-bottom cup on the round coaster.",
+    "Slide the medium blue cylindrical cup toward the small coaster with grain texture, detouring around the bottle with smooth surface, then set the medium blue cylindrical cup down.",
+    "Use an arm to move the cup with light blue color toward the round coaster with light streaks, keeping the cup with light blue color clear of the blue top shampoo bottle.",
+    "Pick up the cup with smooth plastic surface, guide it past the blue top shampoo bottle, and drop the cup with smooth plastic surface on the coaster with circular shape.",
+    "Lift the cylindrical light blue cup, pass by the shampoo bottle with curved sides without contact, then place the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Move the smooth blue cup for liquids to the coaster with circular shape without crossing the bottle with smooth surface, then release the smooth blue cup for liquids.",
+    "Use an arm: pick the cylindrical light blue cup up, skirt <the blue top shampoo bottle>, then place the cylindrical light blue cup onto <the round coaster>.",
+    "Move the light blue plastic cup toward the round coaster without passing near the blue top shampoo bottle, then set it down.",
+    "Lift the cup for holding liquids, pass beside <the plastic shampoo bottle> without contact, then place the cup for holding liquids onto <the coaster with circular shape>.",
+    "Use an arm to lift the smooth blue drinking cup, arc around the handheld shampoo container, and place the smooth blue drinking cup atop the smooth round palm-sized coaster.",
+    "Take the cup with smooth plastic surface, arc around <the shampoo bottle with blue cap>, and place the cup with smooth plastic surface neatly on <the wooden coaster>.",
+    "Move the medium blue cylindrical cup onto the round coaster while avoiding the bottle with hexagonal blue cap, then let go of the medium blue cylindrical cup.",
+    "With an arm, lift the smooth blue drinking cup, avoid <the shampoo bottle with curved sides> on the way, and drop the smooth blue drinking cup on <the round coaster>.",
+    "Lift the medium blue cylindrical cup, go around the shampoo bottle with blue cap, and position the medium blue cylindrical cup squarely on the round coaster with light streaks.",
+    "Slide the cup with light blue color over to <the wooden coaster> without passing near <the shampoo bottle with blue cap>.",
+    "Pick up the medium blue cylindrical cup, keep clear of <the blue top shampoo bottle>, and drop the medium blue cylindrical cup onto <the coaster with circular shape>.",
+    "Take the blue rounded-bottom cup, swing wide of the handheld shampoo container, then rest the blue rounded-bottom cup on the light gray round grainy coaster.",
+    "Grab the medium blue cylindrical cup, route around the plastic shampoo with orange label, then lower the medium blue cylindrical cup onto the small coaster with grain texture.",
+    "Using an arm, grasp the medium-sized plastic blue cup, skirt the plastic shampoo bottle, and place the medium-sized plastic blue cup atop the light gray streaked wooden coaster.",
+    "Take the medium blue cylindrical cup in the arm, route around <the white shampoo bottle>, and set it on <the small coaster with grain texture>.",
+    "Pick up the medium blue cylindrical cup, keep its path away from <the bottle with hexagonal blue cap>, and set the medium blue cylindrical cup on <the light gray streaked wooden coaster>.",
+    "Take the medium blue cylindrical cup to the light gray round grainy coaster while skirting the shampoo bottle with curved sides, then release the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Use the arm to move the cup for holding liquids past <the plastic shampoo bottle> and rest it on <the light gray round grainy coaster>.",
+    "Carry the plastic cup for drinks toward the small coaster with grain texture, keeping the plastic cup for drinks away from the shampoo bottle with curved sides, then set down.",
+    "Take the medium blue cylindrical cup, keep its path away from the plastic shampoo with orange label, and place the medium blue cylindrical cup on the wooden coaster.",
+    "Grab the smooth blue cup for liquids, swing it away from <the bottle with hexagonal blue cap>, and place the smooth blue cup for liquids on <the smooth round palm-sized coaster>.",
+    "Take the light blue plastic cup, keep its path away from the white and blue shampoo container, and drop the light blue plastic cup on the coaster with circular shape.",
+    "Use an arm, take the medium-sized plastic blue cup past the shampoo bottle with blue cap without nearing it, and rest the medium-sized plastic blue cup on the grainy texture coaster.",
+    "Move the plastic cup for drinks onto the small coaster with grain texture while avoiding the white shampoo bottle, then let go of the plastic cup for drinks.",
+    "Use an arm to take the medium blue cylindrical cup around <the bottle with hexagonal blue cap> and place the medium blue cylindrical cup on <the light gray round grainy coaster>.",
+    "Lift the medium blue cylindrical cup, route it away from the white and blue shampoo container, then put the medium blue cylindrical cup squarely on the coaster with circular shape.",
+    "With an arm, lift the plastic cup for drinks, avoid the shampoo bottle with blue cap, and set the plastic cup for drinks onto the grainy texture coaster.",
+    "Secure the cup with light blue color, move it around the blue top shampoo bottle, and place the cup with light blue color squarely on the small coaster with grain texture.",
+    "With an arm, pick the light blue plastic cup up, bypass <the white and blue shampoo container>, then place the light blue plastic cup on <the light gray round grainy coaster>.",
+    "Take the medium-sized plastic blue cup, route it away from the blue top shampoo bottle, and set the medium-sized plastic blue cup onto the small coaster with grain texture.",
+    "Move the rounded base blue cup to the light gray round grainy coaster while avoiding the bottle with smooth surface, then place the rounded base blue cup on the light gray round grainy coaster.",
+    "Using an arm, carry the blue rounded-bottom cup around the curved shampoo bottle and place the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Secure the plastic cup for drinks, keep its path away from the curved shampoo bottle, and set the plastic cup for drinks on the light gray round grainy coaster.",
+    "Lift the plastic cup for drinks, steer away from <the bottle with smooth surface>, then place the plastic cup for drinks on <the grainy texture coaster>.",
+    "Using an arm, move the smooth blue drinking cup to <the smooth round palm-sized coaster> while avoiding <the handheld shampoo container>, then release the smooth blue drinking cup.",
+    "Lift the smooth blue cup for liquids, carry it around the plastic shampoo bottle, and place the smooth blue cup for liquids squarely on the wooden coaster."
+  ],
+  "unseen": [
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo container in white and blue, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the shampoo container in white and blue>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the blue-capped shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container in white and blue>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container in white and blue>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container in white and blue, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white shampoo with orange design, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the blue-capped shampoo bottle, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container in white and blue, and set it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the white shampoo with orange design, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the blue-capped shampoo bottle>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, route it around <the shampoo container in white and blue>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the blue-capped shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container in white and blue>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, guide it around <the shampoo container in white and blue>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the blue-capped shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white shampoo with orange design, and place it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, steer it around the blue-capped shampoo bottle, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container in white and blue, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the blue-capped shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the blue-capped shampoo bottle, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the blue-capped shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, route it around <the shampoo container in white and blue>, then place the small smooth cup onto <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo container in white and blue, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container in white and blue, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the blue-capped shampoo bottle>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the white shampoo with orange design>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the white shampoo with orange design>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the white shampoo with orange design, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the blue-capped shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo container in white and blue, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the white shampoo with orange design, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the white shampoo with orange design, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the shampoo container in white and blue>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container in white and blue>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the white shampoo with orange design>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container in white and blue>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container in white and blue>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the blue-capped shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the blue-capped shampoo bottle, and place it on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the white shampoo with orange design, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container in white and blue, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the white shampoo with orange design, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the shampoo container in white and blue>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the white shampoo with orange design, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the white shampoo with orange design>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, guide it around <the shampoo container in white and blue>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container in white and blue, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container in white and blue, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the white shampoo with orange design, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container in white and blue, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the blue-capped shampoo bottle, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the white shampoo with orange design>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the blue-capped shampoo bottle>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo container in white and blue, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the blue-capped shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container in white and blue>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container in white and blue>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the shampoo container in white and blue>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the blue-capped shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container in white and blue, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo container in white and blue, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container in white and blue, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the white shampoo with orange design, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white shampoo with orange design>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the blue-capped shampoo bottle>, then place the blue cup onto <the light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode9.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..efd4275eaea36f7f02d0c8a20d34ad00e6a5ac04
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm, take the light blue plastic cup, avoid <the plastic shampoo with orange label> on the way, and set on <the light gray streaked wooden coaster>.",
+    "Take the cylindrical light blue cup to the coaster made of smooth wood while skirting the handheld shampoo container, then release the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Lift the smooth blue drinking cup, go around the bottle with smooth surface, and position the smooth blue drinking cup squarely on the flat surface gray wooden coaster.",
+    "Use the arm to carry the light blue plastic cup around the plastic shampoo with orange label, then rest the light blue plastic cup on the coaster with circular shape.",
+    "Take the medium-sized plastic blue cup, arc around <the white and blue shampoo container>, and place the medium-sized plastic blue cup neatly on <the grainy texture coaster>.",
+    "Use an arm, keep the cup with smooth plastic surface from the blue top shampoo bottle, and lower the cup with smooth plastic surface onto the light gray streaked wooden coaster.",
+    "Use an arm to move the smooth blue cup for liquids toward the round coaster with light streaks, keeping the smooth blue cup for liquids clear of the medium-sized white plastic shampoo.",
+    "Use an arm to bring the rounded base blue cup to the wooden coaster, keeping the rounded base blue cup clear of the handheld shampoo container.",
+    "With an arm, lift the cup with light blue color, avoid the blue top shampoo bottle, and place the cup with light blue color on the grainy texture coaster.",
+    "With an arm, lift the cup with smooth plastic surface, keep it away from the plastic shampoo with orange label, and drop it onto the smooth round palm-sized coaster.",
+    "Lift the cup with light blue color, route it away from the plastic shampoo bottle, then put the cup with light blue color squarely on the flat surface gray wooden coaster.",
+    "Take the medium-sized plastic blue cup in the arm, route around <the white shampoo bottle>, and set it on <the flat surface gray wooden coaster>.",
+    "Lift the smooth blue drinking cup, pass beside <the blue top shampoo bottle> without contact, then place the smooth blue drinking cup onto <the flat surface gray wooden coaster>.",
+    "Take the rounded base blue cup, guide it away from <the blue top shampoo bottle>, and place the rounded base blue cup squarely on <the light gray streaked wooden coaster>.",
+    "Use an arm: take the cylindrical light blue cup, avoid the white and blue shampoo container during the move, and drop it on the coaster with circular shape.",
+    "Move the medium blue cylindrical cup toward the light gray streaked wooden coaster without passing near the shampoo bottle with curved sides, then set it down.",
+    "With an arm, take the cylindrical light blue cup, avoid the curved shampoo bottle, and put the cylindrical light blue cup on the grainy texture coaster.",
+    "Lift the cylindrical light blue cup, pass by the plastic shampoo with orange label without contact, then place the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Use an arm: grab the cylindrical light blue cup, avoid the medium-sized white plastic shampoo on the way, then set the cylindrical light blue cup on the flat surface gray wooden coaster.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the medium-sized white plastic shampoo, and set the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Lift the cup with light blue color, arc around the plastic shampoo with orange label, and place the cup with light blue color squarely on the smooth round palm-sized coaster.",
+    "Lift the light blue plastic cup, guide it around <the blue top shampoo bottle>, then put the light blue plastic cup onto <the round coaster with light streaks>.",
+    "Carry the light blue plastic cup toward the flat surface gray wooden coaster, keeping the light blue plastic cup away from the white shampoo bottle, then set down.",
+    "Lift the light blue plastic cup, guide it past the plastic shampoo bottle, and rest the light blue plastic cup on the flat surface gray wooden coaster.",
+    "Use an arm to move the medium-sized plastic blue cup to the small coaster with grain texture, keeping the medium-sized plastic blue cup from bumping the bottle with smooth surface.",
+    "Grab the light blue plastic cup, route around the medium-sized white plastic shampoo, then lower the light blue plastic cup onto the flat round wooden coaster.",
+    "Move the cup with smooth plastic surface onto <the coaster with circular shape> and ensure the path stays away from <the shampoo bottle with blue cap>.",
+    "Slide the cup for holding liquids toward the smooth round palm-sized coaster, detouring around the shampoo bottle with blue cap, then set the cup for holding liquids down.",
+    "Use an arm to grab the medium blue cylindrical cup, avoid the handheld shampoo container, and set the medium blue cylindrical cup down on the light gray round grainy coaster.",
+    "Arm-lift the rounded base blue cup, swing around <the shampoo bottle with curved sides>, then place the rounded base blue cup onto <the round coaster with light streaks>.",
+    "Carry the cup with smooth plastic surface toward <the smooth round palm-sized coaster>, keeping clear of <the white and blue shampoo container>, and set the cup with smooth plastic surface down.",
+    "Use the arm to lift the cup with light blue color, pass the shampoo bottle with curved sides, and place the cup with light blue color on the coaster made of smooth wood.",
+    "Pick up the smooth blue drinking cup, keep clear of <the shampoo bottle with curved sides>, and drop the smooth blue drinking cup onto <the flat surface gray wooden coaster>.",
+    "Using an arm, move the smooth blue drinking cup to <the small coaster with grain texture> while avoiding <the white and blue shampoo container>, then release the smooth blue drinking cup.",
+    "Using an arm, carry the smooth blue cup for liquids around the shampoo bottle with blue cap and place the smooth blue cup for liquids onto the smooth round palm-sized coaster.",
+    "With an arm, pick the smooth blue drinking cup up, bypass <the blue top shampoo bottle>, then place the smooth blue drinking cup on <the round coaster with light streaks>.",
+    "Slide the cylindrical light blue cup over to <the flat round wooden coaster> without passing near <the curved shampoo bottle>.",
+    "Guide the rounded base blue cup with the arm around <the shampoo bottle with blue cap> and onto <the grainy texture coaster>.",
+    "Carry the light blue plastic cup toward <the smooth round palm-sized coaster>, skirting <the plastic shampoo bottle>, and set the light blue plastic cup down.",
+    "Lift the cup with light blue color, carry it around the curved shampoo bottle, and place the cup with light blue color squarely on the small coaster with grain texture.",
+    "Move the medium blue cylindrical cup onto the light gray round grainy coaster while avoiding the shampoo bottle with blue cap, then let go of the medium blue cylindrical cup.",
+    "Move the smooth blue drinking cup to the grainy texture coaster without crossing the plastic shampoo bottle, then release the smooth blue drinking cup.",
+    "Take the medium-sized plastic blue cup, route it away from the plastic shampoo bottle, and set the medium-sized plastic blue cup onto the grainy texture coaster.",
+    "Use an arm to move the medium-sized plastic blue cup around the bottle with smooth surface and rest the medium-sized plastic blue cup on the wooden coaster.",
+    "Use an arm, take the smooth blue cup for liquids past the shampoo bottle with blue cap without nearing it, and rest the smooth blue cup for liquids on the small coaster with grain texture.",
+    "With an arm, lift the cylindrical light blue cup, avoid <the medium-sized white plastic shampoo> on the way, and drop the cylindrical light blue cup on <the flat surface gray wooden coaster>.",
+    "Pick up the cylindrical light blue cup, route it away from the plastic shampoo bottle, then set the cylindrical light blue cup on the flat surface gray wooden coaster.",
+    "Use an arm to take the medium-sized plastic blue cup around <the shampoo bottle with curved sides> and place the medium-sized plastic blue cup on <the light gray round grainy coaster>.",
+    "With an arm, bring the light blue plastic cup over to <the smooth round palm-sized coaster> and keep clear of <the white and blue shampoo container>.",
+    "Using an arm, pick the plastic cup for drinks up, skirt the blue top shampoo bottle, and place the plastic cup for drinks on the small coaster with grain texture.",
+    "Take the smooth blue drinking cup, keep its path away from the curved shampoo bottle, and place the smooth blue drinking cup on the small coaster with grain texture.",
+    "Pick the cup with smooth plastic surface up, route it away from the medium-sized white plastic shampoo, and drop the cup with smooth plastic surface onto the wooden coaster.",
+    "Pick up the cylindrical light blue cup, guide it past the plastic shampoo bottle, and drop the cylindrical light blue cup on the flat round wooden coaster.",
+    "Using an arm, grasp the light blue plastic cup, skirt the bottle with hexagonal blue cap, and place the light blue plastic cup atop the coaster with circular shape.",
+    "Pick up the smooth blue cup for liquids, avoid the blue top shampoo bottle along the way, and place the smooth blue cup for liquids on the round coaster.",
+    "With an arm, move the plastic cup for drinks past the medium-sized white plastic shampoo and place the plastic cup for drinks on the coaster made of smooth wood.",
+    "Take the rounded base blue cup, keep its path away from the curved shampoo bottle, and drop the rounded base blue cup on the light gray round grainy coaster.",
+    "Move the plastic cup for drinks onto the smooth round palm-sized coaster while avoiding the shampoo bottle with curved sides, then let go of the plastic cup for drinks.",
+    "Use an arm, pick the cup for holding liquids up, pass around the shampoo bottle with blue cap, then place the cup for holding liquids on the round coaster with light streaks.",
+    "Using an arm, pick the medium-sized plastic blue cup up, skirt the shampoo bottle with curved sides, and place the medium-sized plastic blue cup on the coaster with circular shape.",
+    "Use an arm: pick the plastic cup for drinks up, skirt <the shampoo bottle with curved sides>, then place the plastic cup for drinks onto <the coaster with circular shape>.",
+    "With an arm, lift the cup for holding liquids, guide it past the handheld shampoo container, and put the cup for holding liquids on the small coaster with grain texture.",
+    "Move the cup for holding liquids to <the coaster made of smooth wood> while keeping its path away from <the plastic shampoo bottle>.",
+    "Using an arm, carry the blue rounded-bottom cup past <the plastic shampoo with orange label> and place the blue rounded-bottom cup squarely on <the grainy texture coaster>.",
+    "Move the cup with light blue color to the coaster made of smooth wood while avoiding the white shampoo bottle, then place the cup with light blue color on the coaster made of smooth wood.",
+    "Use an arm to lift the rounded base blue cup, arc around the medium-sized white plastic shampoo, and place the rounded base blue cup atop the flat round wooden coaster.",
+    "Use an arm to lift the cup for holding liquids, keep distance from <the medium-sized white plastic shampoo>, and set the cup for holding liquids on <the coaster with circular shape>.",
+    "Use the arm to move the cup for holding liquids past <the plastic shampoo with orange label> and rest it on <the flat surface gray wooden coaster>.",
+    "Move the smooth blue drinking cup to <the coaster made of smooth wood> while keeping the smooth blue drinking cup away from <the plastic shampoo bottle>, then release.",
+    "Lift the cylindrical light blue cup, keep clear of the bottle with smooth surface, and put the cylindrical light blue cup down on the grainy texture coaster.",
+    "Use an arm: grasp the cup with smooth plastic surface, avoid <the plastic shampoo with orange label>, and place the cup with smooth plastic surface on <the light gray streaked wooden coaster>.",
+    "With an arm, lift the light blue plastic cup, route past <the shampoo bottle with curved sides>, and drop the light blue plastic cup onto <the small coaster with grain texture>.",
+    "Carry the cup with smooth plastic surface toward <the coaster with circular shape>, keeping the path clear of <the white shampoo bottle>, then set down.",
+    "Secure the light blue plastic cup, move it around the white and blue shampoo container, and place the light blue plastic cup squarely on the light gray streaked wooden coaster.",
+    "Take the cup with light blue color, swing wide of the white shampoo bottle, then rest the cup with light blue color on the light gray round grainy coaster.",
+    "Pick up the rounded base blue cup, keep its path away from <the curved shampoo bottle>, and set the rounded base blue cup on <the small coaster with grain texture>.",
+    "Secure the cup with light blue color, keep its path away from the medium-sized white plastic shampoo, and set the cup with light blue color on the coaster made of smooth wood.",
+    "Lift the medium blue cylindrical cup, steer away from <the shampoo bottle with blue cap>, then place the medium blue cylindrical cup on <the small coaster with grain texture>.",
+    "Grab the smooth blue cup for liquids, swing it away from <the blue top shampoo bottle>, and place the smooth blue cup for liquids on <the flat round wooden coaster>.",
+    "Grab the cylindrical light blue cup, guide it away from the shampoo bottle with blue cap, and set the cylindrical light blue cup neatly on the light gray streaked wooden coaster.",
+    "Use an arm, take the cup with light blue color, avoid <the plastic shampoo bottle> on the way, and set on <the light gray streaked wooden coaster>.",
+    "Take the medium blue cylindrical cup to the flat surface gray wooden coaster while skirting the shampoo bottle with curved sides, then release the medium blue cylindrical cup on the flat surface gray wooden coaster.",
+    "Lift the smooth blue drinking cup, go around the handheld shampoo container, and position the smooth blue drinking cup squarely on the grainy texture coaster.",
+    "Use the arm to carry the cylindrical light blue cup around the white shampoo bottle, then rest the cylindrical light blue cup on the grainy texture coaster.",
+    "Take the smooth blue cup for liquids, arc around <the curved shampoo bottle>, and place the smooth blue cup for liquids neatly on <the round coaster>.",
+    "Use an arm, keep the cup with smooth plastic surface from the white shampoo bottle, and lower the cup with smooth plastic surface onto the grainy texture coaster.",
+    "Use an arm to move the blue rounded-bottom cup toward the flat surface gray wooden coaster, keeping the blue rounded-bottom cup clear of the bottle with smooth surface.",
+    "Use an arm to bring the light blue plastic cup to the coaster with circular shape, keeping the light blue plastic cup clear of the medium-sized white plastic shampoo.",
+    "With an arm, lift the light blue plastic cup, avoid the plastic shampoo bottle, and place the light blue plastic cup on the round coaster.",
+    "With an arm, lift the cup for holding liquids, keep it away from the white shampoo bottle, and drop it onto the light gray streaked wooden coaster.",
+    "Lift the medium blue cylindrical cup, route it away from the plastic shampoo bottle, then put the medium blue cylindrical cup squarely on the coaster made of smooth wood.",
+    "Take the blue rounded-bottom cup in the arm, route around <the plastic shampoo bottle>, and set it on <the light gray streaked wooden coaster>.",
+    "Lift the light blue plastic cup, pass beside <the curved shampoo bottle> without contact, then place the light blue plastic cup onto <the grainy texture coaster>.",
+    "Take the blue rounded-bottom cup, guide it away from <the bottle with hexagonal blue cap>, and place the blue rounded-bottom cup squarely on <the flat surface gray wooden coaster>.",
+    "Use an arm: take the cup for holding liquids, avoid the white and blue shampoo container during the move, and drop it on the coaster with circular shape.",
+    "Move the smooth blue drinking cup toward the grainy texture coaster without passing near the plastic shampoo with orange label, then set it down.",
+    "With an arm, take the rounded base blue cup, avoid the plastic shampoo bottle, and put the rounded base blue cup on the grainy texture coaster.",
+    "Lift the light blue plastic cup, pass by the white and blue shampoo container without contact, then place the light blue plastic cup on the coaster with circular shape.",
+    "Use an arm: grab the medium-sized plastic blue cup, avoid the curved shampoo bottle on the way, then set the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the shampoo bottle with curved sides, and set the blue rounded-bottom cup onto the round coaster with light streaks."
+  ],
+  "unseen": [
+    "Grab the handheld round blue cup, steer it around the shampoo container in white and blue, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the white shampoo with orange design, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container in white and blue>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the white shampoo with orange design>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the blue-capped shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container in white and blue, and place it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo container in white and blue>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container in white and blue>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container in white and blue>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container in white and blue>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container in white and blue, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the shampoo container in white and blue, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the shampoo container in white and blue, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container in white and blue, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white shampoo with orange design>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, route it around <the white shampoo with orange design>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the blue-capped shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container in white and blue, and place it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the shampoo container in white and blue>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the blue-capped shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the white shampoo with orange design>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the white shampoo with orange design, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the blue-capped shampoo bottle, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the blue-capped shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container in white and blue, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the blue-capped shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the white shampoo with orange design>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the blue-capped shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the blue-capped shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo container in white and blue>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container in white and blue>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the blue-capped shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the white shampoo with orange design, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the white shampoo with orange design, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the white shampoo with orange design, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container in white and blue, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container in white and blue>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo container in white and blue>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo container in white and blue, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container in white and blue, and place it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the white shampoo with orange design>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the white shampoo with orange design, and set the handheld round blue cup on the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container in white and blue>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the white shampoo with orange design>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the white shampoo with orange design, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the blue-capped shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the white shampoo with orange design, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the white shampoo with orange design, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the blue-capped shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the white shampoo with orange design>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo container in white and blue, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the white shampoo with orange design, and place it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container in white and blue, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white shampoo with orange design>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep it clear of <the white shampoo with orange design>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the blue cup, avoid <the white shampoo with orange design>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container in white and blue, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the blue-capped shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the blue-capped shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the blue-capped shampoo bottle, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the blue-capped shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container in white and blue>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the white shampoo with orange design, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the blue-capped shampoo bottle, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the white shampoo with orange design>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container in white and blue, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container in white and blue>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the blue-capped shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the white shampoo with orange design, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo container in white and blue, then set the blue cup down on the light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo container in white and blue, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the white shampoo with orange design, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white shampoo with orange design>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode90.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode90.json
new file mode 100644
index 0000000000000000000000000000000000000000..e39a6702bdee687519e4448f0862df86e6cfed35
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode90.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With an arm, lift the plastic cup for drinks, avoid <the shampoo bottle with blue cap> on the way, and drop the plastic cup for drinks on <the light gray round grainy coaster>.",
+    "Pick up the cup for holding liquids, route it away from the shampoo bottle with blue cap, then set the cup for holding liquids on the coaster made of smooth wood.",
+    "Use an arm to take the medium-sized plastic blue cup around <the plastic shampoo with orange label> and place the medium-sized plastic blue cup on <the flat surface gray wooden coaster>.",
+    "Use an arm to move the plastic cup for drinks toward the coaster with circular shape, keeping the plastic cup for drinks clear of the plastic shampoo with orange label.",
+    "Use the arm to carry the light blue plastic cup around the shampoo bottle with curved sides, then rest the light blue plastic cup on the grainy texture coaster.",
+    "Use an arm: grab the cup with smooth plastic surface, avoid the plastic shampoo bottle on the way, then set the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "Using an arm, carry the medium-sized plastic blue cup past <the medium-sized white plastic shampoo> and place the medium-sized plastic blue cup squarely on <the small coaster with grain texture>.",
+    "With an arm, bring the medium-sized plastic blue cup over to <the small coaster with grain texture> and keep clear of <the shampoo bottle with blue cap>.",
+    "Lift the smooth blue drinking cup, pass by the plastic shampoo with orange label without contact, then place the smooth blue drinking cup on the round coaster.",
+    "Carry the smooth blue drinking cup toward the small coaster with grain texture, keeping the smooth blue drinking cup away from the plastic shampoo with orange label, then set down.",
+    "Use an arm, take the smooth blue cup for liquids past the shampoo bottle with curved sides without nearing it, and rest the smooth blue cup for liquids on the flat surface gray wooden coaster.",
+    "Use the arm to lift the smooth blue cup for liquids, pass the handheld shampoo container, and place the smooth blue cup for liquids on the grainy texture coaster.",
+    "Lift the smooth blue cup for liquids, guide it around <the white and blue shampoo container>, then put the smooth blue cup for liquids onto <the light gray streaked wooden coaster>.",
+    "Grab the smooth blue cup for liquids, route around the shampoo bottle with curved sides, then lower the smooth blue cup for liquids onto the light gray streaked wooden coaster.",
+    "Using an arm, carry the cup with smooth plastic surface around the handheld shampoo container and place the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Using an arm, pick the medium-sized plastic blue cup up, skirt the white shampoo bottle, and place the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Using an arm, move the cup with light blue color to <the coaster with circular shape> while avoiding <the handheld shampoo container>, then release the cup with light blue color.",
+    "Lift the medium-sized plastic blue cup, go around the plastic shampoo with orange label, and position the medium-sized plastic blue cup squarely on the coaster made of smooth wood.",
+    "Secure the cup with light blue color, keep its path away from the bottle with hexagonal blue cap, and set the cup with light blue color on the round coaster.",
+    "With an arm, take the rounded base blue cup, avoid the blue top shampoo bottle, and put the rounded base blue cup on the coaster with circular shape.",
+    "Take the smooth blue cup for liquids, keep its path away from the curved shampoo bottle, and place the smooth blue cup for liquids on the round coaster.",
+    "Move the light blue plastic cup to the round coaster while avoiding the white shampoo bottle, then place the light blue plastic cup on the round coaster.",
+    "Grab the rounded base blue cup, guide it away from the bottle with hexagonal blue cap, and set the rounded base blue cup neatly on the light gray round grainy coaster.",
+    "Take the plastic cup for drinks in the arm, route around <the bottle with smooth surface>, and set it on <the wooden coaster>.",
+    "Lift the cup for holding liquids, keep clear of the bottle with hexagonal blue cap, and put the cup for holding liquids down on the flat round wooden coaster.",
+    "Lift the cup with light blue color, pass beside <the handheld shampoo container> without contact, then place the cup with light blue color onto <the flat round wooden coaster>.",
+    "Using an arm, pick the light blue plastic cup up, skirt the plastic shampoo bottle, and place the light blue plastic cup on the coaster with circular shape.",
+    "Move the blue rounded-bottom cup onto the light gray round grainy coaster while avoiding the blue top shampoo bottle, then let go of the blue rounded-bottom cup.",
+    "Use an arm, take the medium blue cylindrical cup, avoid <the handheld shampoo container> on the way, and set on <the light gray round grainy coaster>.",
+    "Move the cup with light blue color to <the smooth round palm-sized coaster> while keeping its path away from <the curved shampoo bottle>.",
+    "Use an arm, pick the rounded base blue cup up, pass around the white shampoo bottle, then place the rounded base blue cup on the small coaster with grain texture.",
+    "Lift the cup with light blue color, steer away from <the plastic shampoo with orange label>, then place the cup with light blue color on <the flat surface gray wooden coaster>.",
+    "Take the blue rounded-bottom cup, guide it away from <the curved shampoo bottle>, and place the blue rounded-bottom cup squarely on <the coaster with circular shape>.",
+    "With an arm, move the cup with light blue color past the curved shampoo bottle and place the cup with light blue color on the wooden coaster.",
+    "Take the smooth blue cup for liquids, route it away from the curved shampoo bottle, and set the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Use the arm to move the smooth blue cup for liquids past <the bottle with hexagonal blue cap> and rest it on <the light gray round grainy coaster>.",
+    "With an arm, lift the cylindrical light blue cup, guide it past the handheld shampoo container, and put the cylindrical light blue cup on the flat round wooden coaster.",
+    "With an arm, pick the plastic cup for drinks up, bypass <the shampoo bottle with curved sides>, then place the plastic cup for drinks on <the coaster with circular shape>.",
+    "Use an arm to bring the cylindrical light blue cup to the light gray round grainy coaster, keeping the cylindrical light blue cup clear of the blue top shampoo bottle.",
+    "Take the blue rounded-bottom cup, arc around <the plastic shampoo bottle>, and place the blue rounded-bottom cup neatly on <the small coaster with grain texture>.",
+    "Use an arm to move the plastic cup for drinks to the grainy texture coaster, keeping the plastic cup for drinks from bumping the handheld shampoo container.",
+    "Lift the plastic cup for drinks, carry it around the bottle with hexagonal blue cap, and place the plastic cup for drinks squarely on the wooden coaster.",
+    "Lift the smooth blue cup for liquids, route it away from the blue top shampoo bottle, then put the smooth blue cup for liquids squarely on the grainy texture coaster.",
+    "Arm-lift the cup with light blue color, swing around <the curved shampoo bottle>, then place the cup with light blue color onto <the wooden coaster>.",
+    "Slide the smooth blue cup for liquids toward the coaster made of smooth wood, detouring around the white shampoo bottle, then set the smooth blue cup for liquids down.",
+    "Use an arm, keep the medium-sized plastic blue cup from the white and blue shampoo container, and lower the medium-sized plastic blue cup onto the smooth round palm-sized coaster.",
+    "Using an arm, grasp the light blue plastic cup, skirt the plastic shampoo bottle, and place the light blue plastic cup atop the wooden coaster.",
+    "Pick up the light blue plastic cup, keep clear of <the medium-sized white plastic shampoo>, and drop the light blue plastic cup onto <the round coaster with light streaks>.",
+    "Use an arm: grasp the medium blue cylindrical cup, avoid <the shampoo bottle with blue cap>, and place the medium blue cylindrical cup on <the flat round wooden coaster>.",
+    "Use an arm: pick the smooth blue cup for liquids up, skirt <the shampoo bottle with curved sides>, then place the smooth blue cup for liquids onto <the round coaster>.",
+    "Use an arm to lift the smooth blue drinking cup, arc around the medium-sized white plastic shampoo, and place the smooth blue drinking cup atop the light gray round grainy coaster.",
+    "Take the cup with light blue color to the flat round wooden coaster while skirting the medium-sized white plastic shampoo, then release the cup with light blue color on the flat round wooden coaster.",
+    "Use an arm to grab the cup for holding liquids, avoid the bottle with smooth surface, and set the cup for holding liquids down on the round coaster.",
+    "Move the light blue plastic cup to <the coaster with circular shape> while keeping the light blue plastic cup away from <the bottle with smooth surface>, then release.",
+    "Grab the light blue plastic cup, swing it away from <the white and blue shampoo container>, and place the light blue plastic cup on <the small coaster with grain texture>.",
+    "Pick up the rounded base blue cup, keep its path away from <the white and blue shampoo container>, and set the rounded base blue cup on <the grainy texture coaster>.",
+    "Move the cup with smooth plastic surface onto the round coaster with light streaks while avoiding the blue top shampoo bottle, then let go of the cup with smooth plastic surface.",
+    "With an arm, lift the cylindrical light blue cup, avoid the blue top shampoo bottle, and place the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Use an arm: take the cylindrical light blue cup, avoid the shampoo bottle with blue cap during the move, and drop it on the flat round wooden coaster.",
+    "With an arm, lift the smooth blue drinking cup, avoid the plastic shampoo with orange label, and set the smooth blue drinking cup onto the flat surface gray wooden coaster.",
+    "Move the plastic cup for drinks to the flat round wooden coaster without crossing the white and blue shampoo container, then release the plastic cup for drinks.",
+    "Pick the cup with smooth plastic surface up, route it away from the bottle with hexagonal blue cap, and drop the cup with smooth plastic surface onto the flat round wooden coaster.",
+    "With an arm, lift the smooth blue cup for liquids, keep it away from the plastic shampoo bottle, and drop it onto the round coaster.",
+    "Guide the light blue plastic cup with the arm around <the curved shampoo bottle> and onto <the coaster made of smooth wood>.",
+    "Carry the medium-sized plastic blue cup toward <the small coaster with grain texture>, skirting <the curved shampoo bottle>, and set the medium-sized plastic blue cup down.",
+    "Secure the medium-sized plastic blue cup, move it around the shampoo bottle with curved sides, and place the medium-sized plastic blue cup squarely on the coaster with circular shape.",
+    "Carry the smooth blue cup for liquids toward <the round coaster>, keeping clear of <the shampoo bottle with blue cap>, and set the smooth blue cup for liquids down.",
+    "Lift the blue rounded-bottom cup, arc around the plastic shampoo bottle, and place the blue rounded-bottom cup squarely on the grainy texture coaster.",
+    "Lift the cup with light blue color, guide it past the white and blue shampoo container, and rest the cup with light blue color on the light gray round grainy coaster.",
+    "With an arm, lift the blue rounded-bottom cup, route past <the plastic shampoo bottle>, and drop the blue rounded-bottom cup onto <the small coaster with grain texture>.",
+    "Take the cylindrical light blue cup, swing wide of the white shampoo bottle, then rest the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Slide the rounded base blue cup over to <the coaster made of smooth wood> without passing near <the plastic shampoo with orange label>.",
+    "Take the rounded base blue cup, keep its path away from the curved shampoo bottle, and drop the rounded base blue cup on the wooden coaster.",
+    "Carry the cup with smooth plastic surface toward <the light gray streaked wooden coaster>, keeping the path clear of <the white and blue shampoo container>, then set down.",
+    "Move the light blue plastic cup toward the round coaster without passing near the bottle with smooth surface, then set it down.",
+    "Move the rounded base blue cup onto <the small coaster with grain texture> and ensure the path stays away from <the plastic shampoo bottle>.",
+    "Pick up the blue rounded-bottom cup, guide it past the plastic shampoo with orange label, and drop the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Use an arm to lift the plastic cup for drinks, keep distance from <the curved shampoo bottle>, and set the plastic cup for drinks on <the wooden coaster>.",
+    "Use an arm to move the medium blue cylindrical cup around the blue top shampoo bottle and rest the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Pick up the cylindrical light blue cup, avoid the plastic shampoo with orange label along the way, and place the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid <the medium-sized white plastic shampoo> on the way, and drop the medium-sized plastic blue cup on <the light gray streaked wooden coaster>.",
+    "Pick up the light blue plastic cup, route it away from the bottle with smooth surface, then set the light blue plastic cup on the light gray streaked wooden coaster.",
+    "Use an arm to take the light blue plastic cup around <the medium-sized white plastic shampoo> and place the light blue plastic cup on <the light gray round grainy coaster>.",
+    "Use an arm to move the medium blue cylindrical cup toward the wooden coaster, keeping the medium blue cylindrical cup clear of the medium-sized white plastic shampoo.",
+    "Use the arm to carry the rounded base blue cup around the white and blue shampoo container, then rest the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Use an arm: grab the cup for holding liquids, avoid the plastic shampoo bottle on the way, then set the cup for holding liquids on the flat round wooden coaster.",
+    "Using an arm, carry the cup with smooth plastic surface past <the medium-sized white plastic shampoo> and place the cup with smooth plastic surface squarely on <the light gray round grainy coaster>.",
+    "With an arm, bring the cylindrical light blue cup over to <the flat surface gray wooden coaster> and keep clear of <the curved shampoo bottle>.",
+    "Lift the smooth blue drinking cup, pass by the plastic shampoo bottle without contact, then place the smooth blue drinking cup on the wooden coaster.",
+    "Carry the rounded base blue cup toward the smooth round palm-sized coaster, keeping the rounded base blue cup away from the white shampoo bottle, then set down.",
+    "Use an arm, take the plastic cup for drinks past the white shampoo bottle without nearing it, and rest the plastic cup for drinks on the coaster with circular shape.",
+    "Use the arm to lift the cup for holding liquids, pass the shampoo bottle with curved sides, and place the cup for holding liquids on the small coaster with grain texture.",
+    "Lift the cylindrical light blue cup, guide it around <the plastic shampoo bottle>, then put the cylindrical light blue cup onto <the light gray streaked wooden coaster>.",
+    "Grab the blue rounded-bottom cup, route around the white and blue shampoo container, then lower the blue rounded-bottom cup onto the coaster with circular shape.",
+    "Using an arm, carry the cup with smooth plastic surface around the shampoo bottle with curved sides and place the cup with smooth plastic surface onto the flat surface gray wooden coaster.",
+    "Using an arm, pick the cup for holding liquids up, skirt the handheld shampoo container, and place the cup for holding liquids on the small coaster with grain texture.",
+    "Using an arm, move the plastic cup for drinks to <the small coaster with grain texture> while avoiding <the curved shampoo bottle>, then release the plastic cup for drinks.",
+    "Lift the medium-sized plastic blue cup, go around the shampoo bottle with curved sides, and position the medium-sized plastic blue cup squarely on the coaster with circular shape.",
+    "Secure the medium-sized plastic blue cup, keep its path away from the handheld shampoo container, and set the medium-sized plastic blue cup on the flat surface gray wooden coaster.",
+    "With an arm, take the cylindrical light blue cup, avoid the curved shampoo bottle, and put the cylindrical light blue cup on the light gray streaked wooden coaster."
+  ],
+  "unseen": [
+    "Using an arm, pick up the blue cup, steer clear of <the blue-capped shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the white shampoo with orange design>, and place it on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the white shampoo with orange design>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the blue-capped shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the blue-capped shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the white shampoo with orange design, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container in white and blue>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo container in white and blue, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the white shampoo with orange design, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container in white and blue, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the blue-capped shampoo bottle, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the blue-capped shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container in white and blue, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo container in white and blue, then set the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container in white and blue>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container in white and blue>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container in white and blue>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the shampoo container in white and blue, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the white shampoo with orange design, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container in white and blue, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the white shampoo with orange design, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container in white and blue, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container in white and blue, and set it on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the blue-capped shampoo bottle, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white shampoo with orange design>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container in white and blue>, and place it on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container in white and blue>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container in white and blue>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the white shampoo with orange design, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the white shampoo with orange design>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container in white and blue>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo container in white and blue, then set the handheld round blue cup down on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the white shampoo with orange design, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the blue-capped shampoo bottle, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container in white and blue, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the white shampoo with orange design, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the white shampoo with orange design, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the shampoo container in white and blue>, and place it on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the white shampoo with orange design>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container in white and blue>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the white shampoo with orange design>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the white shampoo with orange design, and set the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container in white and blue>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the shampoo container in white and blue, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the white shampoo with orange design, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container in white and blue, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container in white and blue, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white shampoo with orange design, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the white shampoo with orange design, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo container in white and blue, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container in white and blue>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the shampoo container in white and blue>, and place it on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the white shampoo with orange design>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the blue-capped shampoo bottle>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container in white and blue, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo container in white and blue>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the white shampoo with orange design>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the blue-capped shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the white shampoo with orange design, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white shampoo with orange design, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container in white and blue, and place it on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container in white and blue, and set it on the light gray coaster.",
+    "Grab the blue cup, steer it around the blue-capped shampoo bottle, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the white shampoo with orange design>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the blue-capped shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the blue cup, avoid <the white shampoo with orange design>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container in white and blue>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container in white and blue, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the white shampoo with orange design>, then place the small smooth cup onto <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the blue-capped shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo container in white and blue, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the white shampoo with orange design, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container in white and blue, and place it on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the white shampoo with orange design, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo container in white and blue, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the white shampoo with orange design>, and set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the white shampoo with orange design>, and place it on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the handheld round blue cup, avoid <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the white shampoo with orange design>, and place the handheld round blue cup on <the light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode91.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode91.json
new file mode 100644
index 0000000000000000000000000000000000000000..d03e5eb757d92184176fdba20f4c7a93f8c8ec97
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode91.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With an arm, bring the cup for holding liquids over to <the wooden coaster> and keep clear of <the white shampoo bottle>.",
+    "With an arm, lift the cup with light blue color, keep it away from the plastic shampoo bottle, and drop it onto the round coaster with light streaks.",
+    "Use an arm to bring the cup for holding liquids to the round coaster with light streaks, keeping the cup for holding liquids clear of the curved shampoo bottle.",
+    "Carry the plastic cup for drinks toward <the smooth round palm-sized coaster>, skirting <the white shampoo bottle>, and set the plastic cup for drinks down.",
+    "Move the plastic cup for drinks to the grainy texture coaster without crossing the plastic shampoo bottle, then release the plastic cup for drinks.",
+    "Lift the cup for holding liquids, guide it around <the bottle with hexagonal blue cap>, then put the cup for holding liquids onto <the light gray streaked wooden coaster>.",
+    "Use an arm: grasp the cup with smooth plastic surface, avoid <the white and blue shampoo container>, and place the cup with smooth plastic surface on <the round coaster>.",
+    "Use an arm to grab the medium blue cylindrical cup, avoid the white and blue shampoo container, and set the medium blue cylindrical cup down on the round coaster with light streaks.",
+    "Use an arm, keep the plastic cup for drinks from the bottle with smooth surface, and lower the plastic cup for drinks onto the light gray streaked wooden coaster.",
+    "Secure the cup with smooth plastic surface, keep its path away from the white and blue shampoo container, and set the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Lift the medium blue cylindrical cup, pass by the bottle with smooth surface without contact, then place the medium blue cylindrical cup on the small coaster with grain texture.",
+    "Lift the smooth blue drinking cup, arc around the bottle with smooth surface, and place the smooth blue drinking cup squarely on the round coaster.",
+    "Slide the medium blue cylindrical cup toward the small coaster with grain texture, detouring around the white and blue shampoo container, then set the medium blue cylindrical cup down.",
+    "With an arm, take the blue rounded-bottom cup, avoid the shampoo bottle with curved sides, and put the blue rounded-bottom cup on the round coaster.",
+    "Move the cup with smooth plastic surface to <the coaster with circular shape> while keeping the cup with smooth plastic surface away from <the blue top shampoo bottle>, then release.",
+    "Move the cup for holding liquids onto the light gray round grainy coaster while avoiding the handheld shampoo container, then let go of the cup for holding liquids.",
+    "Using an arm, carry the cup with smooth plastic surface past <the shampoo bottle with blue cap> and place the cup with smooth plastic surface squarely on <the wooden coaster>.",
+    "Take the cylindrical light blue cup, swing wide of the medium-sized white plastic shampoo, then rest the cylindrical light blue cup on the round coaster with light streaks.",
+    "Take the smooth blue cup for liquids, guide it away from <the white shampoo bottle>, and place the smooth blue cup for liquids squarely on <the round coaster with light streaks>.",
+    "Use an arm to lift the medium blue cylindrical cup, keep distance from <the shampoo bottle with blue cap>, and set the medium blue cylindrical cup on <the flat surface gray wooden coaster>.",
+    "Carry the blue rounded-bottom cup toward <the light gray streaked wooden coaster>, keeping the path clear of <the shampoo bottle with curved sides>, then set down.",
+    "Carry the cup with smooth plastic surface toward the round coaster with light streaks, keeping the cup with smooth plastic surface away from the curved shampoo bottle, then set down.",
+    "Use an arm to lift the cylindrical light blue cup, arc around the plastic shampoo bottle, and place the cylindrical light blue cup atop the coaster with circular shape.",
+    "Move the smooth blue drinking cup toward the coaster with circular shape without passing near the bottle with hexagonal blue cap, then set it down.",
+    "Take the cup with light blue color, route it away from the shampoo bottle with blue cap, and set the cup with light blue color onto the smooth round palm-sized coaster.",
+    "Grab the rounded base blue cup, swing it away from <the shampoo bottle with blue cap>, and place the rounded base blue cup on <the light gray streaked wooden coaster>.",
+    "Use an arm: pick the plastic cup for drinks up, skirt <the white shampoo bottle>, then place the plastic cup for drinks onto <the wooden coaster>.",
+    "Use an arm: grab the light blue plastic cup, avoid the shampoo bottle with blue cap on the way, then set the light blue plastic cup on the wooden coaster.",
+    "Use the arm to carry the medium blue cylindrical cup around the white shampoo bottle, then rest the medium blue cylindrical cup on the wooden coaster.",
+    "Take the smooth blue drinking cup, keep its path away from the shampoo bottle with curved sides, and drop the smooth blue drinking cup on the coaster with circular shape.",
+    "Carry the rounded base blue cup toward <the smooth round palm-sized coaster>, keeping clear of <the shampoo bottle with blue cap>, and set the rounded base blue cup down.",
+    "Lift the light blue plastic cup, go around the bottle with hexagonal blue cap, and position the light blue plastic cup squarely on the flat surface gray wooden coaster.",
+    "Take the medium-sized plastic blue cup in the arm, route around <the medium-sized white plastic shampoo>, and set it on <the light gray streaked wooden coaster>.",
+    "With an arm, lift the rounded base blue cup, route past <the handheld shampoo container>, and drop the rounded base blue cup onto <the round coaster with light streaks>.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the bottle with smooth surface, and set the blue rounded-bottom cup onto the round coaster with light streaks.",
+    "With an arm, move the medium blue cylindrical cup past the bottle with hexagonal blue cap and place the medium blue cylindrical cup on the coaster with circular shape.",
+    "Use the arm to move the cup for holding liquids past <the handheld shampoo container> and rest it on <the round coaster>.",
+    "With an arm, pick the smooth blue cup for liquids up, bypass <the blue top shampoo bottle>, then place the smooth blue cup for liquids on <the flat surface gray wooden coaster>.",
+    "Move the blue rounded-bottom cup to <the coaster made of smooth wood> while keeping its path away from <the white and blue shampoo container>.",
+    "With an arm, lift the smooth blue drinking cup, avoid the white and blue shampoo container, and place the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "Grab the rounded base blue cup, guide it away from the shampoo bottle with curved sides, and set the rounded base blue cup neatly on the round coaster with light streaks.",
+    "Pick up the medium-sized plastic blue cup, route it away from the white and blue shampoo container, then set the medium-sized plastic blue cup on the wooden coaster.",
+    "Slide the light blue plastic cup over to <the light gray streaked wooden coaster> without passing near <the plastic shampoo with orange label>.",
+    "Use an arm to take the rounded base blue cup around <the plastic shampoo with orange label> and place the rounded base blue cup on <the coaster with circular shape>.",
+    "Lift the plastic cup for drinks, steer away from <the curved shampoo bottle>, then place the plastic cup for drinks on <the small coaster with grain texture>.",
+    "With an arm, lift the light blue plastic cup, avoid <the plastic shampoo with orange label> on the way, and drop the light blue plastic cup on <the coaster made of smooth wood>.",
+    "Grab the plastic cup for drinks, route around the bottle with smooth surface, then lower the plastic cup for drinks onto the flat surface gray wooden coaster.",
+    "Take the cup with smooth plastic surface, keep its path away from the plastic shampoo with orange label, and place the cup with smooth plastic surface on the grainy texture coaster.",
+    "Take the medium blue cylindrical cup to the round coaster while skirting the white shampoo bottle, then release the medium blue cylindrical cup on the round coaster.",
+    "Use an arm to move the rounded base blue cup around the plastic shampoo with orange label and rest the rounded base blue cup on the flat round wooden coaster.",
+    "Guide the cup for holding liquids with the arm around <the white shampoo bottle> and onto <the smooth round palm-sized coaster>.",
+    "Pick up the cup with light blue color, avoid the shampoo bottle with curved sides along the way, and place the cup with light blue color on the light gray round grainy coaster.",
+    "Pick up the smooth blue drinking cup, keep clear of <the shampoo bottle with curved sides>, and drop the smooth blue drinking cup onto <the light gray round grainy coaster>.",
+    "Pick up the cup with light blue color, keep its path away from <the handheld shampoo container>, and set the cup with light blue color on <the small coaster with grain texture>.",
+    "Use an arm to move the cup for holding liquids toward the small coaster with grain texture, keeping the cup for holding liquids clear of the plastic shampoo with orange label.",
+    "Use an arm: take the plastic cup for drinks, avoid the plastic shampoo with orange label during the move, and drop it on the flat round wooden coaster.",
+    "Move the cup with smooth plastic surface to the round coaster while avoiding the white and blue shampoo container, then place the cup with smooth plastic surface on the round coaster.",
+    "Secure the medium blue cylindrical cup, move it around the shampoo bottle with blue cap, and place the medium blue cylindrical cup squarely on the smooth round palm-sized coaster.",
+    "Take the medium-sized plastic blue cup, arc around <the bottle with hexagonal blue cap>, and place the medium-sized plastic blue cup neatly on <the wooden coaster>.",
+    "With an arm, lift the cup with smooth plastic surface, guide it past the bottle with hexagonal blue cap, and put the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Use an arm, take the cylindrical light blue cup, avoid <the white shampoo bottle> on the way, and set on <the flat round wooden coaster>.",
+    "Pick up the blue rounded-bottom cup, guide it past the white shampoo bottle, and drop the blue rounded-bottom cup on the round coaster.",
+    "Using an arm, move the plastic cup for drinks to <the round coaster with light streaks> while avoiding <the medium-sized white plastic shampoo>, then release the plastic cup for drinks.",
+    "Use an arm, pick the cup with light blue color up, pass around the plastic shampoo with orange label, then place the cup with light blue color on the light gray streaked wooden coaster.",
+    "Lift the smooth blue drinking cup, route it away from the shampoo bottle with curved sides, then put the smooth blue drinking cup squarely on the small coaster with grain texture.",
+    "Using an arm, pick the plastic cup for drinks up, skirt the curved shampoo bottle, and place the plastic cup for drinks on the flat round wooden coaster.",
+    "Using an arm, pick the smooth blue drinking cup up, skirt the white shampoo bottle, and place the smooth blue drinking cup on the flat surface gray wooden coaster.",
+    "Using an arm, grasp the medium-sized plastic blue cup, skirt the bottle with smooth surface, and place the medium-sized plastic blue cup atop the smooth round palm-sized coaster.",
+    "Using an arm, carry the rounded base blue cup around the shampoo bottle with blue cap and place the rounded base blue cup onto the coaster with circular shape.",
+    "Use an arm, take the cup with light blue color past the white and blue shampoo container without nearing it, and rest the cup with light blue color on the small coaster with grain texture.",
+    "Arm-lift the medium-sized plastic blue cup, swing around <the shampoo bottle with curved sides>, then place the medium-sized plastic blue cup onto <the small coaster with grain texture>.",
+    "Pick the blue rounded-bottom cup up, route it away from the handheld shampoo container, and drop the blue rounded-bottom cup onto the small coaster with grain texture.",
+    "Lift the cup with smooth plastic surface, carry it around the plastic shampoo bottle, and place the cup with smooth plastic surface squarely on the coaster made of smooth wood.",
+    "Move the plastic cup for drinks onto <the smooth round palm-sized coaster> and ensure the path stays away from <the bottle with hexagonal blue cap>.",
+    "Lift the cup with smooth plastic surface, guide it past the curved shampoo bottle, and rest the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Lift the rounded base blue cup, keep clear of the white and blue shampoo container, and put the rounded base blue cup down on the coaster made of smooth wood.",
+    "Use the arm to lift the plastic cup for drinks, pass the blue top shampoo bottle, and place the plastic cup for drinks on the round coaster with light streaks.",
+    "Use an arm to move the cup for holding liquids to the smooth round palm-sized coaster, keeping the cup for holding liquids from bumping the curved shampoo bottle.",
+    "Lift the light blue plastic cup, pass beside <the white shampoo bottle> without contact, then place the light blue plastic cup onto <the light gray round grainy coaster>.",
+    "Move the medium blue cylindrical cup onto the round coaster with light streaks while avoiding the handheld shampoo container, then let go of the medium blue cylindrical cup.",
+    "With an arm, bring the medium blue cylindrical cup over to <the light gray round grainy coaster> and keep clear of <the shampoo bottle with blue cap>.",
+    "With an arm, lift the rounded base blue cup, keep it away from the plastic shampoo with orange label, and drop it onto the round coaster.",
+    "Use an arm to bring the smooth blue cup for liquids to the coaster made of smooth wood, keeping the smooth blue cup for liquids clear of the white and blue shampoo container.",
+    "Carry the blue rounded-bottom cup toward <the flat round wooden coaster>, skirting <the white and blue shampoo container>, and set the blue rounded-bottom cup down.",
+    "Move the medium-sized plastic blue cup to the light gray streaked wooden coaster without crossing the shampoo bottle with blue cap, then release the medium-sized plastic blue cup.",
+    "Lift the plastic cup for drinks, guide it around <the white shampoo bottle>, then put the plastic cup for drinks onto <the flat surface gray wooden coaster>.",
+    "Use an arm: grasp the cup with smooth plastic surface, avoid <the plastic shampoo bottle>, and place the cup with smooth plastic surface on <the flat surface gray wooden coaster>.",
+    "Use an arm to grab the plastic cup for drinks, avoid the white and blue shampoo container, and set the plastic cup for drinks down on the light gray round grainy coaster.",
+    "Use an arm, keep the smooth blue drinking cup from the handheld shampoo container, and lower the smooth blue drinking cup onto the coaster with circular shape.",
+    "Secure the smooth blue cup for liquids, keep its path away from the blue top shampoo bottle, and set the smooth blue cup for liquids on the small coaster with grain texture.",
+    "Lift the light blue plastic cup, pass by the bottle with smooth surface without contact, then place the light blue plastic cup on the grainy texture coaster.",
+    "Lift the medium blue cylindrical cup, arc around the medium-sized white plastic shampoo, and place the medium blue cylindrical cup squarely on the wooden coaster.",
+    "Slide the cup for holding liquids toward the light gray streaked wooden coaster, detouring around the plastic shampoo bottle, then set the cup for holding liquids down.",
+    "With an arm, take the cylindrical light blue cup, avoid the medium-sized white plastic shampoo, and put the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Move the medium blue cylindrical cup to <the round coaster with light streaks> while keeping the medium blue cylindrical cup away from <the blue top shampoo bottle>, then release.",
+    "Move the smooth blue drinking cup onto the light gray round grainy coaster while avoiding the bottle with hexagonal blue cap, then let go of the smooth blue drinking cup.",
+    "Using an arm, carry the cup with light blue color past <the handheld shampoo container> and place the cup with light blue color squarely on <the smooth round palm-sized coaster>.",
+    "Take the cup with smooth plastic surface, swing wide of the plastic shampoo with orange label, then rest the cup with smooth plastic surface on the round coaster with light streaks.",
+    "Take the medium blue cylindrical cup, guide it away from <the curved shampoo bottle>, and place the medium blue cylindrical cup squarely on <the grainy texture coaster>.",
+    "Use an arm to lift the light blue plastic cup, keep distance from <the bottle with smooth surface>, and set the light blue plastic cup on <the flat surface gray wooden coaster>."
+  ],
+  "unseen": [
+    "With an arm, lift the small smooth cup, avoid <the shampoo container in white and blue>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the blue-capped shampoo bottle, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the white shampoo with orange design, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the blue-capped shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the white shampoo with orange design>, and set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white shampoo with orange design, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Grab the small smooth cup, steer it around the shampoo container in white and blue, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container in white and blue, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the blue-capped shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the white shampoo with orange design, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, carry it around the shampoo container in white and blue, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white shampoo with orange design>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the white shampoo with orange design, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the blue-capped shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container in white and blue>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container in white and blue>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the white shampoo with orange design, and place it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the light gray coaster.",
+    "Grab the blue cup, steer it around the white shampoo with orange design, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, route it around <the blue-capped shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo container in white and blue, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, carry it around the white shampoo with orange design, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container in white and blue>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white shampoo with orange design>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the white shampoo with orange design, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the blue-capped shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white shampoo with orange design>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the blue-capped shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the white shampoo with orange design, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the blue-capped shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the shampoo container in white and blue, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container in white and blue>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container in white and blue>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the white shampoo with orange design, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the blue-capped shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container in white and blue>, and place the small smooth cup on <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white shampoo with orange design>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container in white and blue, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container in white and blue, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the white shampoo with orange design, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the blue-capped shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the blue-capped shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the blue-capped shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container in white and blue>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, guide it around <the shampoo container in white and blue>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container in white and blue, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the white shampoo with orange design>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container in white and blue, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the blue-capped shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the blue-capped shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container in white and blue>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer clear of the white shampoo with orange design, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container in white and blue, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo container in white and blue, then set the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white shampoo with orange design, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo container in white and blue>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep clear of the white shampoo with orange design, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, carry it around the white shampoo with orange design, then set the small smooth cup down on the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the blue-capped shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the white shampoo with orange design>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container in white and blue, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the white shampoo with orange design>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container in white and blue, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo container in white and blue, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the blue-capped shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container in white and blue>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the blue-capped shampoo bottle, and place it on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the white shampoo with orange design, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the shampoo container in white and blue, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the white shampoo with orange design>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the white shampoo with orange design, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, carry it around the white shampoo with orange design, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the blue-capped shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the white shampoo with orange design, and set the handheld round blue cup on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the white shampoo with orange design>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the blue-capped shampoo bottle, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container in white and blue, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the blue-capped shampoo bottle>, and place the blue cup on <the disc-shaped light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode92.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode92.json
new file mode 100644
index 0000000000000000000000000000000000000000..96b0d5a21e86487024bdef9481b79ce0c1b6e5f5
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode92.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm: grasp the cup with light blue color, avoid <the rectangular green plastic shampoo dispenser>, and place the cup with light blue color on <the light gray streaked wooden coaster>.",
+    "Use the arm to carry the blue rounded-bottom cup around the green shampoo bottle, then rest the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Pick up the blue rounded-bottom cup, keep clear of <the rectangular green plastic shampoo dispenser>, and drop the blue rounded-bottom cup onto <the wooden coaster>.",
+    "Carry the smooth blue drinking cup toward <the flat surface gray wooden coaster>, skirting <the green shampoo bottle>, and set the smooth blue drinking cup down.",
+    "Use an arm to grab the cylindrical light blue cup, avoid the rectangular green plastic shampoo dispenser, and set the cylindrical light blue cup down on the light gray round grainy coaster.",
+    "Use an arm: take the cylindrical light blue cup, avoid the shampoo bottle with smooth surface during the move, and drop it on the flat surface gray wooden coaster.",
+    "Secure the smooth blue cup for liquids, move it around the shampoo bottle with matte black pump, and place the smooth blue cup for liquids squarely on the coaster made of smooth wood.",
+    "Lift the plastic cup for drinks, pass beside <the hand-sized shampoo bottle> without contact, then place the plastic cup for drinks onto <the round coaster with light streaks>.",
+    "Carry the medium-sized plastic blue cup toward <the small coaster with grain texture>, keeping clear of <the shampoo bottle, green with black cap>, and set the medium-sized plastic blue cup down.",
+    "Slide the light blue plastic cup toward the small coaster with grain texture, detouring around the hand-sized shampoo bottle, then set the light blue plastic cup down.",
+    "Lift the cup with smooth plastic surface, go around the shampoo container with dispensing pump, and position the cup with smooth plastic surface squarely on the round coaster.",
+    "Take the cup for holding liquids, guide it away from <the plastic shampoo container>, and place the cup for holding liquids squarely on <the round coaster with light streaks>.",
+    "Lift the blue rounded-bottom cup, guide it past the medium size shampoo bottle, and rest the blue rounded-bottom cup on the wooden coaster.",
+    "Use the arm to move the rounded base blue cup past <the hand-sized shampoo bottle> and rest it on <the round coaster with light streaks>.",
+    "Use an arm: pick the cup with smooth plastic surface up, skirt <the shampoo bottle, green with black cap>, then place the cup with smooth plastic surface onto <the round coaster>.",
+    "Pick up the rounded base blue cup, keep its path away from <the shampoo bottle with matte black pump>, and set the rounded base blue cup on <the small coaster with grain texture>.",
+    "Lift the smooth blue cup for liquids, guide it around <the plastic shampoo container>, then put the smooth blue cup for liquids onto <the flat surface gray wooden coaster>.",
+    "With an arm, move the cup with light blue color past the plastic shampoo container and place the cup with light blue color on the flat round wooden coaster.",
+    "Take the cup with smooth plastic surface, arc around <the shampoo container with dispensing pump>, and place the cup with smooth plastic surface neatly on <the coaster made of smooth wood>.",
+    "Use an arm to lift the smooth blue drinking cup, keep distance from <the hand-sized shampoo bottle>, and set the smooth blue drinking cup on <the grainy texture coaster>.",
+    "Take the smooth blue cup for liquids in the arm, route around <the dark green bottle with pump>, and set it on <the wooden coaster>.",
+    "Grab the medium blue cylindrical cup, route around the rectangular dark green shampoo bottle, then lower the medium blue cylindrical cup onto the round coaster with light streaks.",
+    "With an arm, lift the medium blue cylindrical cup, avoid <the rectangular green plastic shampoo dispenser> on the way, and drop the medium blue cylindrical cup on <the coaster made of smooth wood>.",
+    "Using an arm, move the blue rounded-bottom cup to <the flat round wooden coaster> while avoiding <the shampoo bottle with black pump>, then release the blue rounded-bottom cup.",
+    "Lift the rounded base blue cup, steer away from <the hand-sized shampoo bottle>, then place the rounded base blue cup on <the light gray round grainy coaster>.",
+    "Lift the smooth blue drinking cup, arc around the shampoo container with dispensing pump, and place the smooth blue drinking cup squarely on the light gray round grainy coaster.",
+    "Take the medium-sized plastic blue cup, keep its path away from the shampoo bottle with matte black pump, and place the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "With an arm, lift the plastic cup for drinks, guide it past the shampoo bottle with matte black pump, and put the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Arm-lift the cylindrical light blue cup, swing around <the rectangular dark green shampoo bottle>, then place the cylindrical light blue cup onto <the coaster with circular shape>.",
+    "Slide the rounded base blue cup over to <the flat surface gray wooden coaster> without passing near <the shampoo bottle, green with black cap>.",
+    "Use an arm to take the blue rounded-bottom cup around <the rectangular dark green shampoo bottle> and place the blue rounded-bottom cup on <the coaster made of smooth wood>.",
+    "Grab the cup with smooth plastic surface, guide it away from the plastic shampoo container, and set the cup with smooth plastic surface neatly on the grainy texture coaster.",
+    "Use an arm, keep the cup with light blue color from the dark green bottle with pump, and lower the cup with light blue color onto the wooden coaster.",
+    "Use an arm to move the cup with smooth plastic surface toward the coaster made of smooth wood, keeping the cup with smooth plastic surface clear of the medium size shampoo bottle.",
+    "Move the light blue plastic cup toward the flat round wooden coaster without passing near the rectangular green plastic shampoo dispenser, then set it down.",
+    "With an arm, pick the cup for holding liquids up, bypass <the shampoo container with dispensing pump>, then place the cup for holding liquids on <the wooden coaster>.",
+    "With an arm, lift the smooth blue drinking cup, route past <the hand-sized shampoo bottle>, and drop the smooth blue drinking cup onto <the wooden coaster>.",
+    "Take the cup with light blue color, swing wide of the rectangular dark green shampoo bottle, then rest the cup with light blue color on the round coaster.",
+    "Move the rounded base blue cup to the wooden coaster without crossing the green shampoo bottle, then release the rounded base blue cup.",
+    "Use the arm to lift the medium blue cylindrical cup, pass the dark green bottle with pump, and place the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Use an arm to bring the blue rounded-bottom cup to the round coaster, keeping the blue rounded-bottom cup clear of the hand-sized shampoo bottle.",
+    "Move the cup for holding liquids to <the grainy texture coaster> while keeping its path away from <the hand-sized shampoo bottle>.",
+    "Lift the cup with smooth plastic surface, pass by the rectangular dark green shampoo bottle without contact, then place the cup with smooth plastic surface on the light gray streaked wooden coaster.",
+    "Pick up the cup for holding liquids, route it away from the shampoo bottle with smooth surface, then set the cup for holding liquids on the grainy texture coaster.",
+    "Use an arm, take the plastic cup for drinks past the rectangular green plastic shampoo dispenser without nearing it, and rest the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Use an arm: grab the blue rounded-bottom cup, avoid the rectangular dark green shampoo bottle on the way, then set the blue rounded-bottom cup on the wooden coaster.",
+    "Move the smooth blue cup for liquids to <the light gray streaked wooden coaster> while keeping the smooth blue cup for liquids away from <the medium size shampoo bottle>, then release.",
+    "Move the blue rounded-bottom cup onto <the flat surface gray wooden coaster> and ensure the path stays away from <the shampoo bottle with matte black pump>.",
+    "Carry the cup with light blue color toward <the small coaster with grain texture>, keeping the path clear of <the shampoo container with dispensing pump>, then set down.",
+    "Using an arm, pick the cylindrical light blue cup up, skirt the rectangular green plastic shampoo dispenser, and place the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Take the cup with light blue color, keep its path away from the shampoo bottle with black pump, and drop the cup with light blue color on the grainy texture coaster.",
+    "Move the plastic cup for drinks to the grainy texture coaster while avoiding the rectangular green plastic shampoo dispenser, then place the plastic cup for drinks on the grainy texture coaster.",
+    "Use an arm to move the rounded base blue cup to the flat surface gray wooden coaster, keeping the rounded base blue cup from bumping the rectangular dark green shampoo bottle.",
+    "Guide the cup for holding liquids with the arm around <the shampoo container with dispensing pump> and onto <the coaster with circular shape>.",
+    "Lift the cup with light blue color, keep clear of the medium size shampoo bottle, and put the cup with light blue color down on the grainy texture coaster.",
+    "Secure the rounded base blue cup, keep its path away from the green shampoo bottle, and set the rounded base blue cup on the round coaster.",
+    "Lift the blue rounded-bottom cup, carry it around the rectangular green plastic shampoo dispenser, and place the blue rounded-bottom cup squarely on the small coaster with grain texture.",
+    "Pick the blue rounded-bottom cup up, route it away from the rectangular dark green shampoo bottle, and drop the blue rounded-bottom cup onto the light gray round grainy coaster.",
+    "Pick up the cup with smooth plastic surface, guide it past the shampoo bottle with smooth surface, and drop the cup with smooth plastic surface on the round coaster.",
+    "Using an arm, pick the light blue plastic cup up, skirt the shampoo container with dispensing pump, and place the light blue plastic cup on the light gray streaked wooden coaster.",
+    "With an arm, lift the rounded base blue cup, avoid the medium size shampoo bottle, and set the rounded base blue cup onto the smooth round palm-sized coaster.",
+    "Carry the cup with smooth plastic surface toward the grainy texture coaster, keeping the cup with smooth plastic surface away from the green shampoo bottle, then set down.",
+    "With an arm, bring the cup for holding liquids over to <the flat round wooden coaster> and keep clear of <the dark green bottle with pump>.",
+    "Move the cup with smooth plastic surface onto the round coaster with light streaks while avoiding the rectangular green plastic shampoo dispenser, then let go of the cup with smooth plastic surface.",
+    "Take the blue rounded-bottom cup, route it away from the medium size shampoo bottle, and set the blue rounded-bottom cup onto the round coaster.",
+    "Using an arm, carry the rounded base blue cup around the hand-sized shampoo bottle and place the rounded base blue cup onto the grainy texture coaster.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the shampoo bottle with black pump, and place the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Use an arm, take the rounded base blue cup, avoid <the rectangular green plastic shampoo dispenser> on the way, and set on <the light gray round grainy coaster>.",
+    "Use an arm, pick the rounded base blue cup up, pass around the shampoo container with dispensing pump, then place the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Lift the light blue plastic cup, route it away from the rectangular dark green shampoo bottle, then put the light blue plastic cup squarely on the light gray streaked wooden coaster.",
+    "Using an arm, grasp the smooth blue drinking cup, skirt the medium size shampoo bottle, and place the smooth blue drinking cup atop the round coaster with light streaks.",
+    "With an arm, take the cup for holding liquids, avoid the rectangular green plastic shampoo dispenser, and put the cup for holding liquids on the grainy texture coaster.",
+    "Pick up the cup with smooth plastic surface, avoid the dark green bottle with pump along the way, and place the cup with smooth plastic surface on the flat surface gray wooden coaster.",
+    "With an arm, lift the cup with light blue color, keep it away from the shampoo bottle with smooth surface, and drop it onto the wooden coaster.",
+    "Using an arm, carry the light blue plastic cup past <the rectangular green plastic shampoo dispenser> and place the light blue plastic cup squarely on <the flat round wooden coaster>.",
+    "Move the plastic cup for drinks onto the wooden coaster while avoiding the shampoo bottle, green with black cap, then let go of the plastic cup for drinks.",
+    "Grab the rounded base blue cup, swing it away from <the medium size shampoo bottle>, and place the rounded base blue cup on <the small coaster with grain texture>.",
+    "Use an arm to lift the smooth blue drinking cup, arc around the shampoo container with dispensing pump, and place the smooth blue drinking cup atop the flat surface gray wooden coaster.",
+    "Use an arm to move the cup with smooth plastic surface around the green shampoo bottle and rest the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Take the medium blue cylindrical cup to the smooth round palm-sized coaster while skirting the shampoo container with dispensing pump, then release the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Use an arm: grasp the blue rounded-bottom cup, avoid <the shampoo bottle with smooth surface>, and place the blue rounded-bottom cup on <the coaster made of smooth wood>.",
+    "Use the arm to carry the medium-sized plastic blue cup around the green shampoo bottle, then rest the medium-sized plastic blue cup on the flat surface gray wooden coaster.",
+    "Pick up the medium-sized plastic blue cup, keep clear of <the shampoo bottle, green with black cap>, and drop the medium-sized plastic blue cup onto <the coaster made of smooth wood>.",
+    "Carry the cylindrical light blue cup toward <the coaster with circular shape>, skirting <the shampoo bottle, green with black cap>, and set the cylindrical light blue cup down.",
+    "Use an arm to grab the medium blue cylindrical cup, avoid the hand-sized shampoo bottle, and set the medium blue cylindrical cup down on the wooden coaster.",
+    "Use an arm: take the light blue plastic cup, avoid the medium size shampoo bottle during the move, and drop it on the light gray streaked wooden coaster.",
+    "Secure the cylindrical light blue cup, move it around the shampoo container with dispensing pump, and place the cylindrical light blue cup squarely on the smooth round palm-sized coaster.",
+    "Lift the cup with smooth plastic surface, pass beside <the shampoo bottle with matte black pump> without contact, then place the cup with smooth plastic surface onto <the flat surface gray wooden coaster>.",
+    "Carry the cup for holding liquids toward <the coaster with circular shape>, keeping clear of <the shampoo bottle with black pump>, and set the cup for holding liquids down.",
+    "Slide the medium-sized plastic blue cup toward the round coaster, detouring around the plastic shampoo container, then set the medium-sized plastic blue cup down.",
+    "Lift the cup for holding liquids, go around the shampoo container with dispensing pump, and position the cup for holding liquids squarely on the coaster made of smooth wood.",
+    "Take the cup for holding liquids, guide it away from <the green shampoo bottle>, and place the cup for holding liquids squarely on <the round coaster>.",
+    "Lift the cylindrical light blue cup, guide it past the shampoo bottle with black pump, and rest the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Use the arm to move the rounded base blue cup past <the hand-sized shampoo bottle> and rest it on <the light gray streaked wooden coaster>.",
+    "Use an arm: pick the smooth blue drinking cup up, skirt <the rectangular dark green shampoo bottle>, then place the smooth blue drinking cup onto <the grainy texture coaster>.",
+    "Pick up the light blue plastic cup, keep its path away from <the green shampoo bottle>, and set the light blue plastic cup on <the coaster with circular shape>.",
+    "Lift the medium-sized plastic blue cup, guide it around <the dark green bottle with pump>, then put the medium-sized plastic blue cup onto <the light gray round grainy coaster>.",
+    "With an arm, move the cup with light blue color past the green shampoo bottle and place the cup with light blue color on the light gray streaked wooden coaster.",
+    "Take the smooth blue drinking cup, arc around <the dark green bottle with pump>, and place the smooth blue drinking cup neatly on <the smooth round palm-sized coaster>.",
+    "Use an arm to lift the smooth blue drinking cup, keep distance from <the hand-sized shampoo bottle>, and set the smooth blue drinking cup on <the smooth round palm-sized coaster>."
+  ],
+  "unseen": [
+    "Using an arm, pick up the small smooth cup, steer clear of <the green bottle with pump top>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the green bottle with pump top>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the green bottle with pump top, and place the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle for personal use, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the green bottle with pump top, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle for personal use, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle for personal use>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the green bottle with pump top>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the dark green pump shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the green bottle with pump top, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the green bottle with pump top>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the green bottle with pump top, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the green bottle with pump top, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo bottle for personal use, then place the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the green bottle with pump top>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the dark green pump shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the dark green pump shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the green bottle with pump top>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, avoid the dark green pump shampoo bottle, and place the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the dark green pump shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the dark green pump shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the dark green pump shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the dark green pump shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, route it around <the dark green pump shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the dark green pump shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle for personal use, then set the handheld round blue cup down on the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle for personal use>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the dark green pump shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the green bottle with pump top, and place it on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the green bottle with pump top, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle for personal use>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the dark green pump shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the dark green pump shampoo bottle>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the green bottle with pump top>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the dark green pump shampoo bottle, and place the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the dark green pump shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle for personal use, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle for personal use, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle for personal use>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the dark green pump shampoo bottle>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle for personal use, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the green bottle with pump top, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the green bottle with pump top>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle for personal use, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the dark green pump shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the dark green pump shampoo bottle, then place the small smooth cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the green bottle with pump top>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, steer it around the shampoo bottle for personal use, then set the blue cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the green bottle with pump top>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the dark green pump shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the green bottle with pump top, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the green bottle with pump top, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the dark green pump shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the green bottle with pump top, then place the small smooth cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the shampoo bottle for personal use>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the green bottle with pump top>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the green bottle with pump top, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the dark green pump shampoo bottle, then set the blue cup down on the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle for personal use>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle for personal use, and set it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle for personal use, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the green bottle with pump top, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle for personal use>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle for personal use, then set the handheld round blue cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the dark green pump shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the dark green pump shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the dark green pump shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the dark green pump shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the green bottle with pump top, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the green bottle with pump top, then place the blue cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the green bottle with pump top>, and place it on <the light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the green bottle with pump top>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the dark green pump shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the dark green pump shampoo bottle, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the green bottle with pump top>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the green bottle with pump top, and set it on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the dark green pump shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep clear of the shampoo bottle for personal use, then place the small smooth cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the dark green pump shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the green bottle with pump top, then set the blue cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the dark green pump shampoo bottle>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the dark green pump shampoo bottle>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the green bottle with pump top, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the green bottle with pump top, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the green bottle with pump top, and set the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the dark green pump shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle for personal use>, and place it on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the shampoo bottle for personal use>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle for personal use, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the green bottle with pump top, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the green bottle with pump top>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the green bottle with pump top, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the green bottle with pump top, and place it on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the green bottle with pump top, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle for personal use>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, steer it around the shampoo bottle for personal use, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the green bottle with pump top>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the green bottle with pump top>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the dark green pump shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the green bottle with pump top, then place the handheld round blue cup onto the light gray coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode93.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode93.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bcdb03c490cd21fd8418c15d65098b704ad9aa8
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode93.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using an arm, pick the medium blue cylindrical cup up, skirt the shampoo bottle, and place the medium blue cylindrical cup on the small coaster with grain texture.",
+    "Pick up the cup with light blue color, keep its path away from <the bottle for shampoo with glossy finish>, and set the cup with light blue color on <the smooth round palm-sized coaster>.",
+    "Use an arm, take the smooth blue drinking cup past the white shampoo bottle without nearing it, and rest the smooth blue drinking cup on the light gray streaked wooden coaster.",
+    "Lift the plastic cup for drinks, carry it around the plastic shampoo bottle with smooth surface, and place the plastic cup for drinks squarely on the round coaster.",
+    "With an arm, lift the plastic cup for drinks, avoid the smooth shampoo container, and set the plastic cup for drinks onto the round coaster.",
+    "With an arm, lift the medium-sized plastic blue cup, keep it away from the bottle for shampoo with glossy finish, and drop it onto the flat round wooden coaster.",
+    "Use an arm to grab the blue rounded-bottom cup, avoid the shampoo bottle, and set the blue rounded-bottom cup down on the flat surface gray wooden coaster.",
+    "Take the cup with smooth plastic surface to the small coaster with grain texture while skirting the white shampoo bottle, then release the cup with smooth plastic surface on the small coaster with grain texture.",
+    "Use the arm to carry the smooth blue cup for liquids around the smooth shampoo container, then rest the smooth blue cup for liquids on the smooth round palm-sized coaster.",
+    "Move the cup with smooth plastic surface to <the smooth round palm-sized coaster> while keeping the cup with smooth plastic surface away from <the rectangular shampoo bottle with rounded top>, then release.",
+    "Arm-lift the smooth blue drinking cup, swing around <the white bottle with golden accents>, then place the smooth blue drinking cup onto <the flat round wooden coaster>.",
+    "Using an arm, carry the rounded base blue cup around the white shampoo bottle and place the rounded base blue cup onto the light gray round grainy coaster.",
+    "Pick up the smooth blue drinking cup, avoid the bottle for shampoo with glossy finish along the way, and place the smooth blue drinking cup on the flat round wooden coaster.",
+    "Using an arm, pick the medium blue cylindrical cup up, skirt the white shampoo bottle with golden top, and place the medium blue cylindrical cup on the flat surface gray wooden coaster.",
+    "Carry the smooth blue cup for liquids toward <the flat surface gray wooden coaster>, keeping the path clear of <the rectangular shampoo bottle with rounded top>, then set down.",
+    "Lift the rounded base blue cup, pass beside <the shampoo bottle with rectangular base> without contact, then place the rounded base blue cup onto <the grainy texture coaster>.",
+    "Use an arm to move the plastic cup for drinks to the coaster made of smooth wood, keeping the plastic cup for drinks from bumping the bottle for shampoo with glossy finish.",
+    "Grab the blue rounded-bottom cup, swing it away from <the medium shampoo container>, and place the blue rounded-bottom cup on <the flat round wooden coaster>.",
+    "Move the smooth blue cup for liquids onto <the round coaster with light streaks> and ensure the path stays away from <the white bottle with golden accents>.",
+    "Take the plastic cup for drinks, swing wide of the medium shampoo container, then rest the plastic cup for drinks on the coaster with circular shape.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid <the medium shampoo container> on the way, and drop the medium-sized plastic blue cup on <the flat surface gray wooden coaster>.",
+    "Use an arm to lift the cup for holding liquids, arc around the smooth shampoo container, and place the cup for holding liquids atop the flat round wooden coaster.",
+    "Pick the blue rounded-bottom cup up, route it away from the white shampoo bottle with golden top, and drop the blue rounded-bottom cup onto the wooden coaster.",
+    "Grab the smooth blue cup for liquids, route around the bottle with yellow cap, then lower the smooth blue cup for liquids onto the flat round wooden coaster.",
+    "Use an arm: grasp the medium-sized plastic blue cup, avoid <the shampoo bottle with rectangular base>, and place the medium-sized plastic blue cup on <the flat round wooden coaster>.",
+    "Use an arm, take the light blue plastic cup, avoid <the hand-held shampoo bottle> on the way, and set on <the coaster with circular shape>.",
+    "Take the cup for holding liquids in the arm, route around <the medium shampoo container>, and set it on <the small coaster with grain texture>.",
+    "Use an arm, pick the plastic cup for drinks up, pass around the rectangular shampoo bottle with rounded top, then place the plastic cup for drinks on the grainy texture coaster.",
+    "Use the arm to move the smooth blue drinking cup past <the shampoo bottle with rectangular base> and rest it on <the flat surface gray wooden coaster>.",
+    "Guide the smooth blue drinking cup with the arm around <the smooth shampoo container> and onto <the wooden coaster>.",
+    "Lift the medium blue cylindrical cup, route it away from the rectangular shampoo bottle with rounded top, then put the medium blue cylindrical cup squarely on the light gray round grainy coaster.",
+    "With an arm, pick the cup with smooth plastic surface up, bypass <the smooth shampoo container>, then place the cup with smooth plastic surface on <the grainy texture coaster>.",
+    "Carry the light blue plastic cup toward the smooth round palm-sized coaster, keeping the light blue plastic cup away from the shampoo bottle with rectangular base, then set down.",
+    "Take the cup with smooth plastic surface, arc around <the rectangular shampoo bottle with rounded top>, and place the cup with smooth plastic surface neatly on <the round coaster>.",
+    "Take the smooth blue drinking cup, guide it away from <the shampoo bottle>, and place the smooth blue drinking cup squarely on <the light gray round grainy coaster>.",
+    "Using an arm, move the cup with smooth plastic surface to <the coaster made of smooth wood> while avoiding <the white shampoo bottle with golden top>, then release the cup with smooth plastic surface.",
+    "Move the cup for holding liquids onto the smooth round palm-sized coaster while avoiding the bottle with yellow cap, then let go of the cup for holding liquids.",
+    "Take the cup with light blue color, route it away from the medium shampoo container, and set the cup with light blue color onto the flat round wooden coaster.",
+    "Slide the cup with light blue color over to <the flat surface gray wooden coaster> without passing near <the medium shampoo container>.",
+    "Use the arm to lift the medium-sized plastic blue cup, pass the hand-held shampoo bottle, and place the medium-sized plastic blue cup on the flat round wooden coaster.",
+    "With an arm, bring the cup with light blue color over to <the light gray streaked wooden coaster> and keep clear of <the bottle for shampoo with glossy finish>.",
+    "With an arm, lift the cup for holding liquids, route past <the medium shampoo container>, and drop the cup for holding liquids onto <the coaster made of smooth wood>.",
+    "Use an arm to move the cylindrical light blue cup around the white bottle with golden accents and rest the cylindrical light blue cup on the round coaster.",
+    "Use an arm: grab the rounded base blue cup, avoid the plastic shampoo bottle with smooth surface on the way, then set the rounded base blue cup on the light gray streaked wooden coaster.",
+    "Lift the medium blue cylindrical cup, keep clear of the white shampoo bottle with golden top, and put the medium blue cylindrical cup down on the light gray round grainy coaster.",
+    "Lift the blue rounded-bottom cup, guide it past the shampoo bottle, and rest the blue rounded-bottom cup on the grainy texture coaster.",
+    "Using an arm, grasp the cylindrical light blue cup, skirt the smooth shampoo container, and place the cylindrical light blue cup atop the wooden coaster.",
+    "Use an arm to take the plastic cup for drinks around <the white bottle with golden accents> and place the plastic cup for drinks on <the light gray round grainy coaster>.",
+    "Use an arm: take the cup for holding liquids, avoid the bottle for shampoo with glossy finish during the move, and drop it on the flat surface gray wooden coaster.",
+    "Slide the blue rounded-bottom cup toward the coaster with circular shape, detouring around the bottle with yellow cap, then set the blue rounded-bottom cup down.",
+    "With an arm, lift the cup with light blue color, avoid the shampoo bottle, and place the cup with light blue color on the light gray round grainy coaster.",
+    "Move the medium-sized plastic blue cup to the round coaster without crossing the shampoo bottle, then release the medium-sized plastic blue cup.",
+    "With an arm, move the cup with smooth plastic surface past the smooth shampoo container and place the cup with smooth plastic surface on the coaster with circular shape.",
+    "Lift the medium blue cylindrical cup, arc around the bottle with yellow cap, and place the medium blue cylindrical cup squarely on the small coaster with grain texture.",
+    "Secure the smooth blue cup for liquids, move it around the shampoo bottle, and place the smooth blue cup for liquids squarely on the coaster made of smooth wood.",
+    "Move the light blue plastic cup onto the smooth round palm-sized coaster while avoiding the bottle for shampoo with glossy finish, then let go of the light blue plastic cup.",
+    "Move the cup with smooth plastic surface toward the wooden coaster without passing near the white bottle with golden accents, then set it down.",
+    "Lift the cup with smooth plastic surface, pass by the smooth shampoo container without contact, then place the cup with smooth plastic surface on the round coaster.",
+    "Use an arm: pick the cylindrical light blue cup up, skirt <the rectangular shampoo bottle with rounded top>, then place the cylindrical light blue cup onto <the wooden coaster>.",
+    "Use an arm, keep the light blue plastic cup from the bottle with yellow cap, and lower the light blue plastic cup onto the light gray round grainy coaster.",
+    "Move the rounded base blue cup to the light gray round grainy coaster while avoiding the plastic shampoo bottle with smooth surface, then place the rounded base blue cup on the light gray round grainy coaster.",
+    "Take the rounded base blue cup, keep its path away from the white bottle with golden accents, and drop the rounded base blue cup on the round coaster with light streaks.",
+    "Secure the blue rounded-bottom cup, keep its path away from the white shampoo bottle, and set the blue rounded-bottom cup on the round coaster.",
+    "Lift the cup with smooth plastic surface, go around the bottle for shampoo with glossy finish, and position the cup with smooth plastic surface squarely on the light gray round grainy coaster.",
+    "Pick up the rounded base blue cup, route it away from the rectangular shampoo bottle with rounded top, then set the rounded base blue cup on the round coaster with light streaks.",
+    "Take the smooth blue cup for liquids, keep its path away from the shampoo bottle with rectangular base, and place the smooth blue cup for liquids on the round coaster.",
+    "Pick up the cup with smooth plastic surface, guide it past the shampoo bottle, and drop the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Carry the medium-sized plastic blue cup toward <the round coaster with light streaks>, keeping clear of <the shampoo bottle with rectangular base>, and set the medium-sized plastic blue cup down.",
+    "Use an arm to move the cup for holding liquids toward the grainy texture coaster, keeping the cup for holding liquids clear of the shampoo bottle.",
+    "With an arm, take the medium blue cylindrical cup, avoid the bottle for shampoo with glossy finish, and put the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Lift the light blue plastic cup, guide it around <the hand-held shampoo bottle>, then put the light blue plastic cup onto <the wooden coaster>.",
+    "Use an arm to bring the plastic cup for drinks to the wooden coaster, keeping the plastic cup for drinks clear of the rectangular shampoo bottle with rounded top.",
+    "Pick up the medium-sized plastic blue cup, keep clear of <the shampoo bottle>, and drop the medium-sized plastic blue cup onto <the coaster made of smooth wood>.",
+    "Carry the smooth blue drinking cup toward <the flat round wooden coaster>, skirting <the rectangular shampoo bottle with rounded top>, and set the smooth blue drinking cup down.",
+    "Lift the medium-sized plastic blue cup, steer away from <the bottle for shampoo with glossy finish>, then place the medium-sized plastic blue cup on <the grainy texture coaster>.",
+    "Grab the smooth blue drinking cup, guide it away from the shampoo bottle with rectangular base, and set the smooth blue drinking cup neatly on the coaster with circular shape.",
+    "Use an arm to lift the cup with smooth plastic surface, keep distance from <the medium shampoo container>, and set the cup with smooth plastic surface on <the flat surface gray wooden coaster>.",
+    "With an arm, lift the medium-sized plastic blue cup, guide it past the plastic shampoo bottle with smooth surface, and put the medium-sized plastic blue cup on the flat round wooden coaster.",
+    "Move the rounded base blue cup to <the round coaster with light streaks> while keeping its path away from <the hand-held shampoo bottle>.",
+    "Using an arm, carry the blue rounded-bottom cup past <the white shampoo bottle with golden top> and place the blue rounded-bottom cup squarely on <the light gray round grainy coaster>.",
+    "Using an arm, pick the medium blue cylindrical cup up, skirt the smooth shampoo container, and place the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Pick up the rounded base blue cup, keep its path away from <the shampoo bottle with rectangular base>, and set the rounded base blue cup on <the flat round wooden coaster>.",
+    "Use an arm, take the rounded base blue cup past the hand-held shampoo bottle without nearing it, and rest the rounded base blue cup on the round coaster with light streaks.",
+    "Lift the plastic cup for drinks, carry it around the white shampoo bottle, and place the plastic cup for drinks squarely on the light gray streaked wooden coaster.",
+    "With an arm, lift the rounded base blue cup, avoid the white shampoo bottle with golden top, and set the rounded base blue cup onto the coaster with circular shape.",
+    "With an arm, lift the cylindrical light blue cup, keep it away from the shampoo bottle, and drop it onto the smooth round palm-sized coaster.",
+    "Use an arm to grab the medium-sized plastic blue cup, avoid the smooth shampoo container, and set the medium-sized plastic blue cup down on the coaster made of smooth wood.",
+    "Take the cup with smooth plastic surface to the round coaster while skirting the hand-held shampoo bottle, then release the cup with smooth plastic surface on the round coaster.",
+    "Use the arm to carry the medium-sized plastic blue cup around the rectangular shampoo bottle with rounded top, then rest the medium-sized plastic blue cup on the grainy texture coaster.",
+    "Move the cup for holding liquids to <the flat surface gray wooden coaster> while keeping the cup for holding liquids away from <the shampoo bottle with rectangular base>, then release.",
+    "Arm-lift the medium blue cylindrical cup, swing around <the medium shampoo container>, then place the medium blue cylindrical cup onto <the smooth round palm-sized coaster>.",
+    "Using an arm, carry the cup with smooth plastic surface around the rectangular shampoo bottle with rounded top and place the cup with smooth plastic surface onto the small coaster with grain texture.",
+    "Pick up the cup for holding liquids, avoid the plastic shampoo bottle with smooth surface along the way, and place the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Using an arm, pick the cup with smooth plastic surface up, skirt the bottle with yellow cap, and place the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Carry the smooth blue drinking cup toward <the flat round wooden coaster>, keeping the path clear of <the medium shampoo container>, then set down.",
+    "Lift the cup with light blue color, pass beside <the medium shampoo container> without contact, then place the cup with light blue color onto <the flat surface gray wooden coaster>.",
+    "Use an arm to move the cup with smooth plastic surface to the round coaster with light streaks, keeping the cup with smooth plastic surface from bumping the shampoo bottle with rectangular base.",
+    "Grab the blue rounded-bottom cup, swing it away from <the rectangular shampoo bottle with rounded top>, and place the blue rounded-bottom cup on <the grainy texture coaster>.",
+    "Move the smooth blue drinking cup onto <the smooth round palm-sized coaster> and ensure the path stays away from <the shampoo bottle with rectangular base>.",
+    "Take the cup for holding liquids, swing wide of the rectangular shampoo bottle with rounded top, then rest the cup for holding liquids on the flat surface gray wooden coaster."
+  ],
+  "unseen": [
+    "With an arm, lift the handheld round blue cup, avoid <the white plastic shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with rounded yellow cap>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with rounded yellow cap>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white plastic shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the medium-sized shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with rounded yellow cap, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the white plastic shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the white plastic shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the white plastic shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the shampoo bottle with rounded yellow cap>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the white plastic shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the medium-sized shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the medium-sized shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, steer it around the white plastic shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the white plastic shampoo bottle, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the blue cup down on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the white plastic shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the medium-sized shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the white plastic shampoo bottle>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, route it around <the shampoo bottle with rounded yellow cap>, then place the blue cup onto <the light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white plastic shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the medium-sized shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with rounded yellow cap, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the white plastic shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the medium-sized shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the medium-sized shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the white plastic shampoo bottle, and set it on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the white plastic shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the white plastic shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the medium-sized shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white plastic shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white plastic shampoo bottle, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the medium-sized shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white plastic shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo bottle with rounded yellow cap, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the medium-sized shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the white plastic shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white plastic shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the medium-sized shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, steer it around the white plastic shampoo bottle, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with rounded yellow cap, and place the blue cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the white plastic shampoo bottle, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with rounded yellow cap, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white plastic shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the medium-sized shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, route it around <the medium-sized shampoo bottle>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the medium-sized shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the white plastic shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the white plastic shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the medium-sized shampoo bottle, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the white plastic shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with rounded yellow cap, and set it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the medium-sized shampoo bottle>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, guide it around <the white plastic shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the white plastic shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the medium-sized shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode94.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode94.json
new file mode 100644
index 0000000000000000000000000000000000000000..9946797ec5ae26e3f27dc4cb3cfa3e49a4434fb1
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode94.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use an arm to move the smooth blue cup for liquids around the bottle light blue rounded shape and rest the smooth blue cup for liquids on the light gray streaked wooden coaster.",
+    "Move the light blue plastic cup to the grainy texture coaster while avoiding the blue shampoo bottle slender design, then place the light blue plastic cup on the grainy texture coaster.",
+    "Pick up the rounded base blue cup, route it away from the shampoo bottle tapered toward cap, then set the rounded base blue cup on the flat round wooden coaster.",
+    "Pick up the blue rounded-bottom cup, avoid the curved light blue shampoo bottle along the way, and place the blue rounded-bottom cup on the coaster with circular shape.",
+    "Take the plastic cup for drinks, guide it away from <the shampoo bottle tapered toward cap>, and place the plastic cup for drinks squarely on <the round coaster with light streaks>.",
+    "Move the cup with light blue color onto the light gray round grainy coaster while avoiding the shampoo bottle with white cap, then let go of the cup with light blue color.",
+    "Pick up the cup for holding liquids, keep clear of <the shampoo bottle with white cap>, and drop the cup for holding liquids onto <the flat surface gray wooden coaster>.",
+    "Using an arm, pick the cup with light blue color up, skirt the bottle light blue rounded shape, and place the cup with light blue color on the coaster made of smooth wood.",
+    "Use an arm, pick the medium blue cylindrical cup up, pass around the bottle of shampoo, then place the medium blue cylindrical cup on the coaster made of smooth wood.",
+    "Lift the medium blue cylindrical cup, steer away from <the shampoo bottle tapered toward cap>, then place the medium blue cylindrical cup on <the light gray streaked wooden coaster>.",
+    "Move the cylindrical light blue cup to <the smooth round palm-sized coaster> while keeping the cylindrical light blue cup away from <the blue shampoo bottle slender design>, then release.",
+    "Secure the smooth blue drinking cup, keep its path away from the curved light blue shampoo bottle, and set the smooth blue drinking cup on the wooden coaster.",
+    "Move the light blue plastic cup onto the smooth round palm-sized coaster while avoiding the blue shampoo bottle slender design, then let go of the light blue plastic cup.",
+    "Carry the cylindrical light blue cup toward <the flat surface gray wooden coaster>, skirting <the bottle of shampoo>, and set the cylindrical light blue cup down.",
+    "Use an arm: take the medium-sized plastic blue cup, avoid the curved light blue shampoo bottle during the move, and drop it on the coaster made of smooth wood.",
+    "Take the smooth blue cup for liquids, keep its path away from the shampoo bottle tapered toward cap, and place the smooth blue cup for liquids on the smooth round palm-sized coaster.",
+    "Use an arm, take the smooth blue drinking cup past the shampoo bottle with matte plastic without nearing it, and rest the smooth blue drinking cup on the smooth round palm-sized coaster.",
+    "Take the plastic cup for drinks, route it away from the light blue shampoo bottle small size, and set the plastic cup for drinks onto the flat surface gray wooden coaster.",
+    "Use the arm to carry the cup with smooth plastic surface around the small smooth shampoo bottle, then rest the cup with smooth plastic surface on the small coaster with grain texture.",
+    "Pick the smooth blue cup for liquids up, route it away from the shampoo bottle tapered toward cap, and drop the smooth blue cup for liquids onto the flat surface gray wooden coaster.",
+    "Grab the medium blue cylindrical cup, route around the shampoo bottle flat bottom edge, then lower the medium blue cylindrical cup onto the coaster with circular shape.",
+    "Take the cup with light blue color, keep its path away from the shampoo bottle tapered toward cap, and drop the cup with light blue color on the coaster with circular shape.",
+    "Using an arm, move the plastic cup for drinks to <the grainy texture coaster> while avoiding <the hand-sized shampoo bottle>, then release the plastic cup for drinks.",
+    "Using an arm, pick the cup with smooth plastic surface up, skirt the shampoo bottle with matte plastic, and place the cup with smooth plastic surface on the grainy texture coaster.",
+    "Use an arm to lift the cup with smooth plastic surface, keep distance from <the hand-sized shampoo bottle>, and set the cup with smooth plastic surface on <the flat surface gray wooden coaster>.",
+    "With an arm, pick the cylindrical light blue cup up, bypass <the shampoo bottle with matte plastic>, then place the cylindrical light blue cup on <the coaster made of smooth wood>.",
+    "Grab the medium blue cylindrical cup, swing it away from <the light blue shampoo bottle small size>, and place the medium blue cylindrical cup on <the coaster made of smooth wood>.",
+    "Take the plastic cup for drinks in the arm, route around <the shampoo bottle flat bottom edge>, and set it on <the flat round wooden coaster>.",
+    "Use an arm to take the rounded base blue cup around <the bottle light blue rounded shape> and place the rounded base blue cup on <the coaster with circular shape>.",
+    "Using an arm, grasp the rounded base blue cup, skirt the blue shampoo bottle slender design, and place the rounded base blue cup atop the light gray round grainy coaster.",
+    "Use an arm to lift the medium blue cylindrical cup, arc around the bottle light blue rounded shape, and place the medium blue cylindrical cup atop the wooden coaster.",
+    "Use an arm: grab the plastic cup for drinks, avoid the shampoo bottle with white cap on the way, then set the plastic cup for drinks on the wooden coaster.",
+    "Arm-lift the cup with light blue color, swing around <the bottle of shampoo>, then place the cup with light blue color onto <the wooden coaster>.",
+    "Secure the cup with smooth plastic surface, move it around the bottle of shampoo, and place the cup with smooth plastic surface squarely on the round coaster.",
+    "Pick up the light blue plastic cup, keep its path away from <the bottle of shampoo>, and set the light blue plastic cup on <the coaster with circular shape>.",
+    "Lift the plastic cup for drinks, arc around the shampoo bottle with matte plastic, and place the plastic cup for drinks squarely on the smooth round palm-sized coaster.",
+    "Using an arm, carry the medium-sized plastic blue cup around the bottle light blue rounded shape and place the medium-sized plastic blue cup onto the flat surface gray wooden coaster.",
+    "Use an arm, take the cup with smooth plastic surface, avoid <the shampoo bottle tapered toward cap> on the way, and set on <the coaster made of smooth wood>.",
+    "Move the plastic cup for drinks onto <the smooth round palm-sized coaster> and ensure the path stays away from <the small smooth shampoo bottle>.",
+    "With an arm, bring the plastic cup for drinks over to <the coaster made of smooth wood> and keep clear of <the bottle light blue rounded shape>.",
+    "Move the smooth blue cup for liquids to the wooden coaster without crossing the shampoo bottle with white cap, then release the smooth blue cup for liquids.",
+    "With an arm, lift the plastic cup for drinks, avoid the shampoo bottle tapered toward cap, and place the plastic cup for drinks on the smooth round palm-sized coaster.",
+    "Take the smooth blue cup for liquids to the light gray streaked wooden coaster while skirting the light blue shampoo bottle small size, then release the smooth blue cup for liquids on the light gray streaked wooden coaster.",
+    "Carry the smooth blue cup for liquids toward <the flat surface gray wooden coaster>, keeping the path clear of <the shampoo bottle tapered toward cap>, then set down.",
+    "Use an arm: pick the cup with smooth plastic surface up, skirt <the shampoo bottle with white cap>, then place the cup with smooth plastic surface onto <the light gray round grainy coaster>.",
+    "Lift the cup with smooth plastic surface, go around the shampoo bottle tapered toward cap, and position the cup with smooth plastic surface squarely on the flat surface gray wooden coaster.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid <the hand-sized shampoo bottle> on the way, and drop the medium-sized plastic blue cup on <the grainy texture coaster>.",
+    "Use an arm to bring the cup with light blue color to the coaster made of smooth wood, keeping the cup with light blue color clear of the curved light blue shampoo bottle.",
+    "Lift the plastic cup for drinks, guide it around <the curved light blue shampoo bottle>, then put the plastic cup for drinks onto <the flat round wooden coaster>.",
+    "Grab the medium-sized plastic blue cup, guide it away from the shampoo bottle tapered toward cap, and set the medium-sized plastic blue cup neatly on the coaster with circular shape.",
+    "Slide the cup for holding liquids over to <the flat round wooden coaster> without passing near <the blue shampoo bottle slender design>.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid the small smooth shampoo bottle, and set the medium-sized plastic blue cup onto the coaster with circular shape.",
+    "Use an arm, keep the cup with smooth plastic surface from the shampoo bottle flat bottom edge, and lower the cup with smooth plastic surface onto the small coaster with grain texture.",
+    "Take the smooth blue drinking cup, arc around <the shampoo bottle with matte plastic>, and place the smooth blue drinking cup neatly on <the round coaster with light streaks>.",
+    "With an arm, lift the cup with smooth plastic surface, keep it away from the blue shampoo bottle slender design, and drop it onto the coaster with circular shape.",
+    "Use the arm to move the plastic cup for drinks past <the small smooth shampoo bottle> and rest it on <the light gray streaked wooden coaster>.",
+    "With an arm, lift the cup with light blue color, guide it past the shampoo bottle flat bottom edge, and put the cup with light blue color on the grainy texture coaster.",
+    "Take the cup with smooth plastic surface, swing wide of the blue shampoo bottle, then rest the cup with smooth plastic surface on the wooden coaster.",
+    "Use an arm: grasp the plastic cup for drinks, avoid <the shampoo bottle with matte plastic>, and place the plastic cup for drinks on <the grainy texture coaster>.",
+    "Pick up the medium blue cylindrical cup, guide it past the shampoo bottle flat bottom edge, and drop the medium blue cylindrical cup on the round coaster.",
+    "Move the smooth blue drinking cup to <the small coaster with grain texture> while keeping its path away from <the shampoo bottle tapered toward cap>.",
+    "Use an arm to move the medium blue cylindrical cup to the round coaster with light streaks, keeping the medium blue cylindrical cup from bumping the curved light blue shampoo bottle.",
+    "Carry the medium blue cylindrical cup toward <the round coaster>, keeping clear of <the light blue shampoo bottle small size>, and set the medium blue cylindrical cup down.",
+    "Lift the light blue plastic cup, pass beside <the hand-sized shampoo bottle> without contact, then place the light blue plastic cup onto <the round coaster with light streaks>.",
+    "Lift the light blue plastic cup, keep clear of the shampoo bottle with white cap, and put the light blue plastic cup down on the light gray round grainy coaster.",
+    "Slide the blue rounded-bottom cup toward the round coaster with light streaks, detouring around the shampoo bottle with matte plastic, then set the blue rounded-bottom cup down.",
+    "With an arm, move the cup with light blue color past the blue shampoo bottle slender design and place the cup with light blue color on the round coaster with light streaks.",
+    "With an arm, take the cup with light blue color, avoid the shampoo bottle with matte plastic, and put the cup with light blue color on the small coaster with grain texture.",
+    "Lift the plastic cup for drinks, route it away from the shampoo bottle with matte plastic, then put the plastic cup for drinks squarely on the light gray round grainy coaster.",
+    "Use an arm to move the cup for holding liquids toward the coaster with circular shape, keeping the cup for holding liquids clear of the curved light blue shampoo bottle.",
+    "Lift the cup for holding liquids, pass by the shampoo bottle with white cap without contact, then place the cup for holding liquids on the wooden coaster.",
+    "Using an arm, carry the smooth blue cup for liquids past <the curved light blue shampoo bottle> and place the smooth blue cup for liquids squarely on <the grainy texture coaster>.",
+    "Move the cup for holding liquids toward the grainy texture coaster without passing near the bottle light blue rounded shape, then set it down.",
+    "With an arm, lift the smooth blue drinking cup, route past <the curved light blue shampoo bottle>, and drop the smooth blue drinking cup onto <the flat surface gray wooden coaster>.",
+    "Carry the smooth blue drinking cup toward the round coaster, keeping the smooth blue drinking cup away from the small smooth shampoo bottle, then set down.",
+    "Lift the blue rounded-bottom cup, guide it past the hand-sized shampoo bottle, and rest the blue rounded-bottom cup on the light gray streaked wooden coaster.",
+    "Guide the cup for holding liquids with the arm around <the shampoo bottle flat bottom edge> and onto <the flat surface gray wooden coaster>.",
+    "Use an arm to grab the rounded base blue cup, avoid the small smooth shampoo bottle, and set the rounded base blue cup down on the light gray streaked wooden coaster.",
+    "Use the arm to lift the cup for holding liquids, pass the shampoo bottle with white cap, and place the cup for holding liquids on the coaster with circular shape.",
+    "Lift the blue rounded-bottom cup, carry it around the shampoo bottle with white cap, and place the blue rounded-bottom cup squarely on the smooth round palm-sized coaster.",
+    "Use an arm to move the smooth blue cup for liquids around the bottle of shampoo and rest the smooth blue cup for liquids on the smooth round palm-sized coaster.",
+    "Move the cylindrical light blue cup to the flat surface gray wooden coaster while avoiding the shampoo bottle with white cap, then place the cylindrical light blue cup on the flat surface gray wooden coaster.",
+    "Pick up the cup with light blue color, route it away from the bottle light blue rounded shape, then set the cup with light blue color on the flat surface gray wooden coaster.",
+    "Pick up the cup with smooth plastic surface, avoid the shampoo bottle with white cap along the way, and place the cup with smooth plastic surface on the light gray streaked wooden coaster.",
+    "Take the rounded base blue cup, guide it away from <the blue shampoo bottle>, and place the rounded base blue cup squarely on <the small coaster with grain texture>.",
+    "Move the medium-sized plastic blue cup onto the flat round wooden coaster while avoiding the bottle light blue rounded shape, then let go of the medium-sized plastic blue cup.",
+    "Pick up the medium-sized plastic blue cup, keep clear of <the blue shampoo bottle slender design>, and drop the medium-sized plastic blue cup onto <the flat surface gray wooden coaster>.",
+    "Using an arm, pick the medium blue cylindrical cup up, skirt the shampoo bottle tapered toward cap, and place the medium blue cylindrical cup on the flat surface gray wooden coaster.",
+    "Use an arm, pick the medium blue cylindrical cup up, pass around the bottle of shampoo, then place the medium blue cylindrical cup on the flat round wooden coaster.",
+    "Lift the smooth blue cup for liquids, steer away from <the blue shampoo bottle>, then place the smooth blue cup for liquids on <the smooth round palm-sized coaster>.",
+    "Move the smooth blue cup for liquids to <the smooth round palm-sized coaster> while keeping the smooth blue cup for liquids away from <the hand-sized shampoo bottle>, then release.",
+    "Secure the medium blue cylindrical cup, keep its path away from the shampoo bottle with matte plastic, and set the medium blue cylindrical cup on the light gray round grainy coaster.",
+    "Move the blue rounded-bottom cup onto the grainy texture coaster while avoiding the bottle of shampoo, then let go of the blue rounded-bottom cup.",
+    "Carry the smooth blue drinking cup toward <the grainy texture coaster>, skirting <the shampoo bottle with white cap>, and set the smooth blue drinking cup down.",
+    "Use an arm: take the medium blue cylindrical cup, avoid the hand-sized shampoo bottle during the move, and drop it on the smooth round palm-sized coaster.",
+    "Take the cylindrical light blue cup, keep its path away from the hand-sized shampoo bottle, and place the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Use an arm, take the cylindrical light blue cup past the shampoo bottle with matte plastic without nearing it, and rest the cylindrical light blue cup on the small coaster with grain texture.",
+    "Take the cup with smooth plastic surface, route it away from the blue shampoo bottle slender design, and set the cup with smooth plastic surface onto the coaster with circular shape.",
+    "Use the arm to carry the rounded base blue cup around the small smooth shampoo bottle, then rest the rounded base blue cup on the smooth round palm-sized coaster.",
+    "Pick the medium blue cylindrical cup up, route it away from the bottle light blue rounded shape, and drop the medium blue cylindrical cup onto the flat surface gray wooden coaster."
+  ],
+  "unseen": [
+    "Grab the blue cup, carry it around the shampoo container white rounded top, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the smooth bottle containing shampoo>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the shampoo container white rounded top>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the oval light blue shampoo container>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the smooth bottle containing shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the oval light blue shampoo container>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the oval light blue shampoo container, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo container white rounded top>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container white rounded top, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container white rounded top, and place it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the smooth bottle containing shampoo, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the oval light blue shampoo container>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the oval light blue shampoo container, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container white rounded top>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, guide it around <the oval light blue shampoo container>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the oval light blue shampoo container>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the oval light blue shampoo container, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo container white rounded top>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the oval light blue shampoo container, and set it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the oval light blue shampoo container>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the smooth bottle containing shampoo, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container white rounded top, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the smooth bottle containing shampoo, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the smooth bottle containing shampoo>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo container white rounded top, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the oval light blue shampoo container>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the oval light blue shampoo container>, and place it on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container white rounded top>, and place the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo container white rounded top, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the shampoo container white rounded top, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the shampoo container white rounded top>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the oval light blue shampoo container, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container white rounded top, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the oval light blue shampoo container, then set the handheld round blue cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo container white rounded top>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, carry it around the shampoo container white rounded top, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container white rounded top>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, guide it around <the oval light blue shampoo container>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around <the oval light blue shampoo container>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the oval light blue shampoo container>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, steer around the oval light blue shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the oval light blue shampoo container>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the oval light blue shampoo container, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container white rounded top, and place it on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the oval light blue shampoo container, then set the small smooth cup onto the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo container white rounded top>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the smooth bottle containing shampoo, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the oval light blue shampoo container>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the blue cup, guide it around <the shampoo container white rounded top>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container white rounded top>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the smooth bottle containing shampoo, and set the blue cup on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the smooth bottle containing shampoo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the smooth bottle containing shampoo, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container white rounded top>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the oval light blue shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the oval light blue shampoo container, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container white rounded top, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo container white rounded top, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the smooth bottle containing shampoo>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the oval light blue shampoo container, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the oval light blue shampoo container>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, guide it around <the smooth bottle containing shampoo>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container white rounded top>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the oval light blue shampoo container, then place the blue cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container white rounded top>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container white rounded top, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the smooth bottle containing shampoo>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the smooth bottle containing shampoo, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container white rounded top, and place it on the light gray coaster.",
+    "Grab the small smooth cup, steer it around the smooth bottle containing shampoo, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the smooth bottle containing shampoo>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the smooth bottle containing shampoo, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container white rounded top>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container white rounded top>, and place it on <the small drink-protecting wooden coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode95.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode95.json
new file mode 100644
index 0000000000000000000000000000000000000000..09eeab0f54aa5e2f246f7f3f697bb811223b8851
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode95.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the plastic cup for drinks to the grainy texture coaster while skirting the rectangular shampoo bottle with rounded top, then release the plastic cup for drinks on the grainy texture coaster.",
+    "Carry the plastic cup for drinks toward <the small coaster with grain texture>, keeping the path clear of <the white shampoo bottle>, then set down.",
+    "Take the medium-sized plastic blue cup, arc around <the hand-held shampoo bottle>, and place the medium-sized plastic blue cup neatly on <the coaster made of smooth wood>.",
+    "Move the cup with light blue color to <the smooth round palm-sized coaster> while keeping the cup with light blue color away from <the rectangular shampoo bottle with rounded top>, then release.",
+    "With an arm, bring the plastic cup for drinks over to <the small coaster with grain texture> and keep clear of <the plastic shampoo bottle with smooth surface>.",
+    "Secure the smooth blue drinking cup, keep its path away from the smooth shampoo container, and set the smooth blue drinking cup on the smooth round palm-sized coaster.",
+    "Use the arm to carry the rounded base blue cup around the plastic shampoo bottle with smooth surface, then rest the rounded base blue cup on the flat round wooden coaster.",
+    "Use an arm to grab the cup with light blue color, avoid the plastic shampoo bottle with smooth surface, and set the cup with light blue color down on the grainy texture coaster.",
+    "Use an arm, take the blue rounded-bottom cup past the smooth shampoo container without nearing it, and rest the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Take the smooth blue drinking cup in the arm, route around <the shampoo bottle with rectangular base>, and set it on <the wooden coaster>.",
+    "Use an arm: grasp the cylindrical light blue cup, avoid <the rectangular shampoo bottle with rounded top>, and place the cylindrical light blue cup on <the wooden coaster>.",
+    "Use the arm to move the medium blue cylindrical cup past <the shampoo bottle with rectangular base> and rest it on <the light gray streaked wooden coaster>.",
+    "Take the cup for holding liquids, keep its path away from the shampoo bottle with rectangular base, and place the cup for holding liquids on the light gray round grainy coaster.",
+    "Carry the smooth blue drinking cup toward the light gray streaked wooden coaster, keeping the smooth blue drinking cup away from the shampoo bottle, then set down.",
+    "Move the smooth blue cup for liquids onto the light gray streaked wooden coaster while avoiding the bottle for shampoo with glossy finish, then let go of the smooth blue cup for liquids.",
+    "Pick up the smooth blue cup for liquids, keep its path away from <the shampoo bottle>, and set the smooth blue cup for liquids on <the small coaster with grain texture>.",
+    "Grab the blue rounded-bottom cup, route around the plastic shampoo bottle with smooth surface, then lower the blue rounded-bottom cup onto the flat round wooden coaster.",
+    "With an arm, lift the cup with light blue color, keep it away from the white shampoo bottle with golden top, and drop it onto the flat round wooden coaster.",
+    "Lift the plastic cup for drinks, guide it around <the bottle for shampoo with glossy finish>, then put the plastic cup for drinks onto <the round coaster>.",
+    "Arm-lift the rounded base blue cup, swing around <the white shampoo bottle>, then place the rounded base blue cup onto <the small coaster with grain texture>.",
+    "Using an arm, carry the rounded base blue cup past <the shampoo bottle> and place the rounded base blue cup squarely on <the wooden coaster>.",
+    "Move the rounded base blue cup onto <the light gray streaked wooden coaster> and ensure the path stays away from <the plastic shampoo bottle with smooth surface>.",
+    "With an arm, lift the medium blue cylindrical cup, route past <the white shampoo bottle>, and drop the medium blue cylindrical cup onto <the coaster made of smooth wood>.",
+    "Lift the medium blue cylindrical cup, pass beside <the smooth shampoo container> without contact, then place the medium blue cylindrical cup onto <the coaster made of smooth wood>.",
+    "Pick up the rounded base blue cup, route it away from the white shampoo bottle, then set the rounded base blue cup on the flat surface gray wooden coaster.",
+    "Take the blue rounded-bottom cup, route it away from the medium shampoo container, and set the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Move the light blue plastic cup toward the round coaster with light streaks without passing near the white shampoo bottle with golden top, then set it down.",
+    "Use an arm: pick the smooth blue cup for liquids up, skirt <the white bottle with golden accents>, then place the smooth blue cup for liquids onto <the round coaster>.",
+    "With an arm, pick the smooth blue drinking cup up, bypass <the shampoo bottle with rectangular base>, then place the smooth blue drinking cup on <the coaster with circular shape>.",
+    "Move the cup with smooth plastic surface onto the flat surface gray wooden coaster while avoiding the bottle with yellow cap, then let go of the cup with smooth plastic surface.",
+    "Lift the cup with light blue color, go around the bottle with yellow cap, and position the cup with light blue color squarely on the small coaster with grain texture.",
+    "Guide the plastic cup for drinks with the arm around <the white shampoo bottle> and onto <the light gray streaked wooden coaster>.",
+    "Using an arm, carry the cup for holding liquids around the white shampoo bottle with golden top and place the cup for holding liquids onto the light gray round grainy coaster.",
+    "With an arm, lift the light blue plastic cup, avoid the shampoo bottle with rectangular base, and place the light blue plastic cup on the coaster made of smooth wood.",
+    "Use an arm: grab the cup with light blue color, avoid the medium shampoo container on the way, then set the cup with light blue color on the coaster made of smooth wood.",
+    "With an arm, lift the cup with smooth plastic surface, avoid the smooth shampoo container, and set the cup with smooth plastic surface onto the round coaster with light streaks.",
+    "Use an arm: take the cylindrical light blue cup, avoid the rectangular shampoo bottle with rounded top during the move, and drop it on the flat round wooden coaster.",
+    "Using an arm, pick the cup with smooth plastic surface up, skirt the shampoo bottle with rectangular base, and place the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Pick up the light blue plastic cup, guide it past the shampoo bottle with rectangular base, and drop the light blue plastic cup on the wooden coaster.",
+    "Lift the smooth blue drinking cup, pass by the shampoo bottle with rectangular base without contact, then place the smooth blue drinking cup on the coaster with circular shape.",
+    "Lift the medium-sized plastic blue cup, steer away from <the shampoo bottle with rectangular base>, then place the medium-sized plastic blue cup on <the flat surface gray wooden coaster>.",
+    "Carry the smooth blue drinking cup toward <the wooden coaster>, keeping clear of <the bottle for shampoo with glossy finish>, and set the smooth blue drinking cup down.",
+    "Use an arm, keep the cup for holding liquids from the white shampoo bottle, and lower the cup for holding liquids onto the small coaster with grain texture.",
+    "Lift the blue rounded-bottom cup, keep clear of the shampoo bottle, and put the blue rounded-bottom cup down on the smooth round palm-sized coaster.",
+    "Pick the plastic cup for drinks up, route it away from the shampoo bottle, and drop the plastic cup for drinks onto the wooden coaster.",
+    "Using an arm, grasp the smooth blue drinking cup, skirt the hand-held shampoo bottle, and place the smooth blue drinking cup atop the flat surface gray wooden coaster.",
+    "With an arm, move the medium blue cylindrical cup past the shampoo bottle with rectangular base and place the medium blue cylindrical cup on the coaster with circular shape.",
+    "Lift the cup with smooth plastic surface, guide it past the hand-held shampoo bottle, and rest the cup with smooth plastic surface on the wooden coaster.",
+    "Use an arm to lift the plastic cup for drinks, arc around the plastic shampoo bottle with smooth surface, and place the plastic cup for drinks atop the flat round wooden coaster.",
+    "Lift the medium-sized plastic blue cup, arc around the medium shampoo container, and place the medium-sized plastic blue cup squarely on the wooden coaster.",
+    "Pick up the light blue plastic cup, keep clear of <the bottle with yellow cap>, and drop the light blue plastic cup onto <the round coaster with light streaks>.",
+    "Using an arm, move the cup for holding liquids to <the flat round wooden coaster> while avoiding <the medium shampoo container>, then release the cup for holding liquids.",
+    "Slide the medium-sized plastic blue cup toward the light gray round grainy coaster, detouring around the white bottle with golden accents, then set the medium-sized plastic blue cup down.",
+    "With an arm, lift the smooth blue drinking cup, guide it past the shampoo bottle, and put the smooth blue drinking cup on the coaster made of smooth wood.",
+    "Grab the blue rounded-bottom cup, guide it away from the white shampoo bottle with golden top, and set the blue rounded-bottom cup neatly on the light gray round grainy coaster.",
+    "Use an arm to move the cup with smooth plastic surface toward the grainy texture coaster, keeping the cup with smooth plastic surface clear of the shampoo bottle with rectangular base.",
+    "Use an arm to move the cup with smooth plastic surface to the coaster made of smooth wood, keeping the cup with smooth plastic surface from bumping the bottle with yellow cap.",
+    "Secure the light blue plastic cup, move it around the white bottle with golden accents, and place the light blue plastic cup squarely on the round coaster with light streaks.",
+    "Take the cup with light blue color, swing wide of the bottle for shampoo with glossy finish, then rest the cup with light blue color on the round coaster.",
+    "Use an arm to move the medium-sized plastic blue cup around the white shampoo bottle and rest the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Use an arm, pick the blue rounded-bottom cup up, pass around the bottle with yellow cap, then place the blue rounded-bottom cup on the round coaster with light streaks.",
+    "Take the cup with smooth plastic surface, guide it away from <the white shampoo bottle>, and place the cup with smooth plastic surface squarely on <the grainy texture coaster>.",
+    "Move the smooth blue cup for liquids to <the flat round wooden coaster> while keeping its path away from <the shampoo bottle with rectangular base>.",
+    "Lift the plastic cup for drinks, carry it around the white shampoo bottle, and place the plastic cup for drinks squarely on the coaster with circular shape.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid <the white shampoo bottle with golden top> on the way, and drop the medium-sized plastic blue cup on <the coaster with circular shape>.",
+    "Using an arm, pick the light blue plastic cup up, skirt the shampoo bottle, and place the light blue plastic cup on the coaster with circular shape.",
+    "Take the light blue plastic cup, keep its path away from the shampoo bottle with rectangular base, and drop the light blue plastic cup on the round coaster with light streaks.",
+    "With an arm, take the cylindrical light blue cup, avoid the shampoo bottle, and put the cylindrical light blue cup on the light gray streaked wooden coaster.",
+    "Carry the smooth blue cup for liquids toward <the wooden coaster>, skirting <the smooth shampoo container>, and set the smooth blue cup for liquids down.",
+    "Pick up the rounded base blue cup, avoid the rectangular shampoo bottle with rounded top along the way, and place the rounded base blue cup on the flat round wooden coaster.",
+    "Move the blue rounded-bottom cup to the grainy texture coaster while avoiding the white bottle with golden accents, then place the blue rounded-bottom cup on the grainy texture coaster.",
+    "Use an arm to bring the blue rounded-bottom cup to the coaster made of smooth wood, keeping the blue rounded-bottom cup clear of the white shampoo bottle with golden top.",
+    "Slide the cup with smooth plastic surface over to <the small coaster with grain texture> without passing near <the medium shampoo container>.",
+    "Move the plastic cup for drinks to the flat round wooden coaster without crossing the rectangular shampoo bottle with rounded top, then release the plastic cup for drinks.",
+    "Lift the medium blue cylindrical cup, route it away from the smooth shampoo container, then put the medium blue cylindrical cup squarely on the small coaster with grain texture.",
+    "Use the arm to lift the rounded base blue cup, pass the shampoo bottle with rectangular base, and place the rounded base blue cup on the light gray round grainy coaster.",
+    "Use an arm to lift the medium-sized plastic blue cup, keep distance from <the bottle for shampoo with glossy finish>, and set the medium-sized plastic blue cup on <the round coaster>.",
+    "Grab the rounded base blue cup, swing it away from <the smooth shampoo container>, and place the rounded base blue cup on <the smooth round palm-sized coaster>.",
+    "Use an arm, take the cylindrical light blue cup, avoid <the shampoo bottle> on the way, and set on <the flat round wooden coaster>.",
+    "Use an arm to take the cylindrical light blue cup around <the bottle for shampoo with glossy finish> and place the cylindrical light blue cup on <the round coaster with light streaks>.",
+    "Take the cylindrical light blue cup to the coaster made of smooth wood while skirting the shampoo bottle, then release the cylindrical light blue cup on the coaster made of smooth wood.",
+    "Carry the smooth blue drinking cup toward <the smooth round palm-sized coaster>, keeping the path clear of <the bottle for shampoo with glossy finish>, then set down.",
+    "Take the plastic cup for drinks, arc around <the shampoo bottle with rectangular base>, and place the plastic cup for drinks neatly on <the grainy texture coaster>.",
+    "Move the cup with smooth plastic surface to <the round coaster with light streaks> while keeping the cup with smooth plastic surface away from <the smooth shampoo container>, then release.",
+    "With an arm, bring the medium-sized plastic blue cup over to <the light gray round grainy coaster> and keep clear of <the shampoo bottle with rectangular base>.",
+    "Secure the cup for holding liquids, keep its path away from the shampoo bottle, and set the cup for holding liquids on the flat round wooden coaster.",
+    "Use the arm to carry the medium-sized plastic blue cup around the smooth shampoo container, then rest the medium-sized plastic blue cup on the flat surface gray wooden coaster.",
+    "Use an arm to grab the smooth blue cup for liquids, avoid the shampoo bottle with rectangular base, and set the smooth blue cup for liquids down on the light gray round grainy coaster.",
+    "Use an arm, take the rounded base blue cup past the white shampoo bottle without nearing it, and rest the rounded base blue cup on the round coaster with light streaks.",
+    "Take the rounded base blue cup in the arm, route around <the white shampoo bottle with golden top>, and set it on <the small coaster with grain texture>.",
+    "Use an arm: grasp the blue rounded-bottom cup, avoid <the shampoo bottle with rectangular base>, and place the blue rounded-bottom cup on <the wooden coaster>.",
+    "Use the arm to move the cup with light blue color past <the shampoo bottle with rectangular base> and rest it on <the coaster made of smooth wood>.",
+    "Take the cylindrical light blue cup, keep its path away from the shampoo bottle, and place the cylindrical light blue cup on the round coaster with light streaks.",
+    "Carry the medium-sized plastic blue cup toward the coaster with circular shape, keeping the medium-sized plastic blue cup away from the bottle for shampoo with glossy finish, then set down.",
+    "Move the rounded base blue cup onto the wooden coaster while avoiding the white shampoo bottle with golden top, then let go of the rounded base blue cup.",
+    "Pick up the medium blue cylindrical cup, keep its path away from <the medium shampoo container>, and set the medium blue cylindrical cup on <the round coaster with light streaks>.",
+    "Grab the cup with smooth plastic surface, route around the white shampoo bottle, then lower the cup with smooth plastic surface onto the light gray streaked wooden coaster.",
+    "With an arm, lift the smooth blue cup for liquids, keep it away from the bottle for shampoo with glossy finish, and drop it onto the smooth round palm-sized coaster.",
+    "Lift the cup with light blue color, guide it around <the medium shampoo container>, then put the cup with light blue color onto <the wooden coaster>.",
+    "Arm-lift the rounded base blue cup, swing around <the smooth shampoo container>, then place the rounded base blue cup onto <the round coaster with light streaks>."
+  ],
+  "unseen": [
+    "Use an arm to pick up the blue cup, steer around the white plastic shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the light gray coaster.",
+    "Grab the blue cup, route it around <the white plastic shampoo bottle>, then place the blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the white plastic shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the white plastic shampoo bottle, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the white plastic shampoo bottle, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the medium-sized shampoo bottle, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, guide it around <the white plastic shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the medium-sized shampoo bottle, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo bottle with rounded yellow cap>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the white plastic shampoo bottle>, then place the small smooth cup onto <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the white plastic shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle with rounded yellow cap>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the white plastic shampoo bottle, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the medium-sized shampoo bottle, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the medium-sized shampoo bottle, and place the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle with rounded yellow cap>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle with rounded yellow cap, and set it on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the shampoo bottle with rounded yellow cap>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the medium-sized shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the medium-sized shampoo bottle, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the medium-sized shampoo bottle>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, steer it around the medium-sized shampoo bottle, then set the small smooth cup onto the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the white plastic shampoo bottle>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the white plastic shampoo bottle, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the white plastic shampoo bottle>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle with rounded yellow cap, and set it on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the medium-sized shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the white plastic shampoo bottle>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the medium-sized shampoo bottle, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the medium-sized shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the shampoo bottle with rounded yellow cap, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo bottle with rounded yellow cap>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle with rounded yellow cap, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo bottle with rounded yellow cap>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the white plastic shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white plastic shampoo bottle>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the white plastic shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the white plastic shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white plastic shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the white plastic shampoo bottle>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the medium-sized shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle with rounded yellow cap, and set the small smooth cup on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the medium-sized shampoo bottle>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, carry it around the medium-sized shampoo bottle, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the medium-sized shampoo bottle, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the medium-sized shampoo bottle>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, steer it around the shampoo bottle with rounded yellow cap, then set the small smooth cup onto the light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the medium-sized shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle with rounded yellow cap, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo bottle with rounded yellow cap>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the medium-sized shampoo bottle, and set it on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the white plastic shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the white plastic shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo bottle with rounded yellow cap, and set the blue cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the white plastic shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the medium-sized shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the medium-sized shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the medium-sized shampoo bottle, and set the handheld round blue cup on the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the white plastic shampoo bottle>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, steer it around the white plastic shampoo bottle, then set the blue cup onto the light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle with rounded yellow cap>, then set the blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the medium-sized shampoo bottle>, and place it on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the medium-sized shampoo bottle, and place the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the medium-sized shampoo bottle>, and place the small smooth cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the white plastic shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the white plastic shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo bottle with rounded yellow cap, and place it on the light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the shampoo bottle with rounded yellow cap>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo bottle with rounded yellow cap, then place the small smooth cup onto the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode96.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode96.json
new file mode 100644
index 0000000000000000000000000000000000000000..804fe18c4e55d0b12dcda8cbd857a2708f80721a
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode96.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the cylindrical light blue cup, route it away from the light blue shampoo bottle small size, then set the cylindrical light blue cup on the wooden coaster.",
+    "Lift the cup for holding liquids, steer away from <the curved light blue shampoo bottle>, then place the cup for holding liquids on <the coaster with circular shape>.",
+    "Pick up the cup for holding liquids, guide it past the small smooth shampoo bottle, and drop the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Carry the cup for holding liquids toward the coaster made of smooth wood, keeping the cup for holding liquids away from the light blue shampoo bottle small size, then set down.",
+    "Pick up the cup for holding liquids, avoid the blue shampoo bottle along the way, and place the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Secure the plastic cup for drinks, keep its path away from the bottle light blue rounded shape, and set the plastic cup for drinks on the small coaster with grain texture.",
+    "Use an arm, keep the smooth blue cup for liquids from the hand-sized shampoo bottle, and lower the smooth blue cup for liquids onto the coaster made of smooth wood.",
+    "Use an arm, pick the smooth blue drinking cup up, pass around the hand-sized shampoo bottle, then place the smooth blue drinking cup on the flat round wooden coaster.",
+    "With an arm, lift the cup with light blue color, keep it away from the hand-sized shampoo bottle, and drop it onto the light gray round grainy coaster.",
+    "Using an arm, pick the medium-sized plastic blue cup up, skirt the small smooth shampoo bottle, and place the medium-sized plastic blue cup on the light gray round grainy coaster.",
+    "Lift the rounded base blue cup, go around the light blue shampoo bottle small size, and position the rounded base blue cup squarely on the grainy texture coaster.",
+    "Lift the cup with smooth plastic surface, guide it around <the blue shampoo bottle>, then put the cup with smooth plastic surface onto <the coaster made of smooth wood>.",
+    "Using an arm, move the smooth blue cup for liquids to <the smooth round palm-sized coaster> while avoiding <the light blue shampoo bottle small size>, then release the smooth blue cup for liquids.",
+    "Use an arm: take the cup with smooth plastic surface, avoid the light blue shampoo bottle small size during the move, and drop it on the round coaster with light streaks.",
+    "With an arm, lift the medium blue cylindrical cup, route past <the small smooth shampoo bottle>, and drop the medium blue cylindrical cup onto <the flat surface gray wooden coaster>.",
+    "Grab the cylindrical light blue cup, route around the shampoo bottle with white cap, then lower the cylindrical light blue cup onto the grainy texture coaster.",
+    "Use the arm to carry the smooth blue cup for liquids around the light blue shampoo bottle small size, then rest the smooth blue cup for liquids on the light gray streaked wooden coaster.",
+    "Use an arm to move the smooth blue cup for liquids around the shampoo bottle with white cap and rest the smooth blue cup for liquids on the round coaster.",
+    "Use an arm to take the light blue plastic cup around <the shampoo bottle tapered toward cap> and place the light blue plastic cup on <the coaster with circular shape>.",
+    "Slide the medium-sized plastic blue cup toward the smooth round palm-sized coaster, detouring around the blue shampoo bottle slender design, then set the medium-sized plastic blue cup down.",
+    "Take the cup with smooth plastic surface to the coaster made of smooth wood while skirting the shampoo bottle tapered toward cap, then release the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Arm-lift the cup with light blue color, swing around <the blue shampoo bottle slender design>, then place the cup with light blue color onto <the grainy texture coaster>.",
+    "Pick the cup for holding liquids up, route it away from the shampoo bottle with white cap, and drop the cup for holding liquids onto the wooden coaster.",
+    "Use the arm to lift the medium-sized plastic blue cup, pass the blue shampoo bottle slender design, and place the medium-sized plastic blue cup on the wooden coaster.",
+    "Move the rounded base blue cup to the small coaster with grain texture without crossing the small smooth shampoo bottle, then release the rounded base blue cup.",
+    "With an arm, take the plastic cup for drinks, avoid the hand-sized shampoo bottle, and put the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Take the cup with smooth plastic surface in the arm, route around <the curved light blue shampoo bottle>, and set it on <the wooden coaster>.",
+    "Pick up the smooth blue drinking cup, keep clear of <the hand-sized shampoo bottle>, and drop the smooth blue drinking cup onto <the small coaster with grain texture>.",
+    "Carry the cylindrical light blue cup toward <the round coaster>, keeping clear of <the bottle light blue rounded shape>, and set the cylindrical light blue cup down.",
+    "Move the cup with light blue color toward the wooden coaster without passing near the blue shampoo bottle slender design, then set it down.",
+    "With an arm, lift the light blue plastic cup, avoid the curved light blue shampoo bottle, and place the light blue plastic cup on the round coaster with light streaks.",
+    "Grab the cup with smooth plastic surface, swing it away from <the shampoo bottle flat bottom edge>, and place the cup with smooth plastic surface on <the round coaster>.",
+    "Carry the rounded base blue cup toward <the light gray round grainy coaster>, skirting <the bottle of shampoo>, and set the rounded base blue cup down.",
+    "Use an arm, take the plastic cup for drinks past the blue shampoo bottle without nearing it, and rest the plastic cup for drinks on the small coaster with grain texture.",
+    "With an arm, pick the cup with smooth plastic surface up, bypass <the blue shampoo bottle slender design>, then place the cup with smooth plastic surface on <the light gray streaked wooden coaster>.",
+    "Use an arm to lift the medium-sized plastic blue cup, arc around the light blue shampoo bottle small size, and place the medium-sized plastic blue cup atop the flat round wooden coaster.",
+    "Take the blue rounded-bottom cup, route it away from the shampoo bottle flat bottom edge, and set the blue rounded-bottom cup onto the grainy texture coaster.",
+    "Guide the light blue plastic cup with the arm around <the light blue shampoo bottle small size> and onto <the round coaster with light streaks>.",
+    "With an arm, bring the medium-sized plastic blue cup over to <the light gray streaked wooden coaster> and keep clear of <the bottle of shampoo>.",
+    "Use an arm to lift the blue rounded-bottom cup, keep distance from <the shampoo bottle flat bottom edge>, and set the blue rounded-bottom cup on <the flat surface gray wooden coaster>.",
+    "Using an arm, carry the rounded base blue cup around the curved light blue shampoo bottle and place the rounded base blue cup onto the coaster made of smooth wood.",
+    "Lift the cup for holding liquids, guide it past the shampoo bottle with matte plastic, and rest the cup for holding liquids on the smooth round palm-sized coaster.",
+    "Using an arm, carry the medium blue cylindrical cup past <the light blue shampoo bottle small size> and place the medium blue cylindrical cup squarely on <the grainy texture coaster>.",
+    "With an arm, lift the cylindrical light blue cup, avoid <the shampoo bottle flat bottom edge> on the way, and drop the cylindrical light blue cup on <the small coaster with grain texture>.",
+    "Move the cylindrical light blue cup onto the light gray round grainy coaster while avoiding the curved light blue shampoo bottle, then let go of the cylindrical light blue cup.",
+    "Lift the plastic cup for drinks, arc around the small smooth shampoo bottle, and place the plastic cup for drinks squarely on the smooth round palm-sized coaster.",
+    "With an arm, lift the smooth blue drinking cup, avoid the curved light blue shampoo bottle, and set the smooth blue drinking cup onto the light gray round grainy coaster.",
+    "With an arm, move the cup for holding liquids past the bottle of shampoo and place the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Move the cup for holding liquids to <the coaster with circular shape> while keeping its path away from <the hand-sized shampoo bottle>.",
+    "Use an arm: grasp the blue rounded-bottom cup, avoid <the light blue shampoo bottle small size>, and place the blue rounded-bottom cup on <the coaster with circular shape>.",
+    "Secure the smooth blue drinking cup, move it around the light blue shampoo bottle small size, and place the smooth blue drinking cup squarely on the coaster made of smooth wood.",
+    "Lift the blue rounded-bottom cup, pass beside <the bottle of shampoo> without contact, then place the blue rounded-bottom cup onto <the flat round wooden coaster>.",
+    "Use an arm to bring the cup with smooth plastic surface to the round coaster, keeping the cup with smooth plastic surface clear of the curved light blue shampoo bottle.",
+    "Use the arm to move the cup for holding liquids past <the bottle light blue rounded shape> and rest it on <the round coaster>.",
+    "Move the cup with light blue color to the smooth round palm-sized coaster while avoiding the blue shampoo bottle, then place the cup with light blue color on the smooth round palm-sized coaster.",
+    "Take the plastic cup for drinks, keep its path away from the hand-sized shampoo bottle, and place the plastic cup for drinks on the round coaster.",
+    "Use an arm to move the light blue plastic cup toward the light gray streaked wooden coaster, keeping the light blue plastic cup clear of the shampoo bottle tapered toward cap.",
+    "Use an arm: grab the medium blue cylindrical cup, avoid the bottle light blue rounded shape on the way, then set the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Lift the cup with light blue color, keep clear of the blue shampoo bottle, and put the cup with light blue color down on the flat surface gray wooden coaster.",
+    "Take the rounded base blue cup, swing wide of the bottle light blue rounded shape, then rest the rounded base blue cup on the wooden coaster.",
+    "Move the medium-sized plastic blue cup to <the round coaster> while keeping the medium-sized plastic blue cup away from <the shampoo bottle with matte plastic>, then release.",
+    "With an arm, lift the cylindrical light blue cup, guide it past the shampoo bottle with matte plastic, and put the cylindrical light blue cup on the smooth round palm-sized coaster.",
+    "Use an arm to grab the cylindrical light blue cup, avoid the hand-sized shampoo bottle, and set the cylindrical light blue cup down on the grainy texture coaster.",
+    "Use an arm to move the plastic cup for drinks to the round coaster, keeping the plastic cup for drinks from bumping the light blue shampoo bottle small size.",
+    "Lift the blue rounded-bottom cup, route it away from the small smooth shampoo bottle, then put the blue rounded-bottom cup squarely on the light gray streaked wooden coaster.",
+    "Grab the plastic cup for drinks, guide it away from the curved light blue shampoo bottle, and set the plastic cup for drinks neatly on the light gray round grainy coaster.",
+    "Take the blue rounded-bottom cup, arc around <the bottle of shampoo>, and place the blue rounded-bottom cup neatly on <the smooth round palm-sized coaster>.",
+    "Move the medium-sized plastic blue cup onto <the wooden coaster> and ensure the path stays away from <the hand-sized shampoo bottle>.",
+    "Move the smooth blue drinking cup onto the flat round wooden coaster while avoiding the light blue shampoo bottle small size, then let go of the smooth blue drinking cup.",
+    "Take the cylindrical light blue cup, keep its path away from the light blue shampoo bottle small size, and drop the cylindrical light blue cup on the coaster with circular shape.",
+    "Using an arm, pick the rounded base blue cup up, skirt the shampoo bottle with matte plastic, and place the rounded base blue cup on the wooden coaster.",
+    "Slide the cup for holding liquids over to <the wooden coaster> without passing near <the shampoo bottle tapered toward cap>.",
+    "Lift the medium-sized plastic blue cup, carry it around the hand-sized shampoo bottle, and place the medium-sized plastic blue cup squarely on the small coaster with grain texture.",
+    "Carry the cup for holding liquids toward <the flat surface gray wooden coaster>, keeping the path clear of <the blue shampoo bottle>, then set down.",
+    "Using an arm, grasp the rounded base blue cup, skirt the shampoo bottle with matte plastic, and place the rounded base blue cup atop the light gray round grainy coaster.",
+    "Pick up the light blue plastic cup, keep its path away from <the light blue shampoo bottle small size>, and set the light blue plastic cup on <the grainy texture coaster>.",
+    "Take the smooth blue cup for liquids, guide it away from <the bottle of shampoo>, and place the smooth blue cup for liquids squarely on <the wooden coaster>.",
+    "Use an arm: pick the smooth blue cup for liquids up, skirt <the shampoo bottle with white cap>, then place the smooth blue cup for liquids onto <the flat round wooden coaster>.",
+    "Use an arm, take the light blue plastic cup, avoid <the shampoo bottle with white cap> on the way, and set on <the grainy texture coaster>.",
+    "Lift the cup with light blue color, pass by the blue shampoo bottle slender design without contact, then place the cup with light blue color on the flat surface gray wooden coaster.",
+    "Pick up the blue rounded-bottom cup, route it away from the shampoo bottle tapered toward cap, then set the blue rounded-bottom cup on the light gray round grainy coaster.",
+    "Lift the medium blue cylindrical cup, steer away from <the shampoo bottle with matte plastic>, then place the medium blue cylindrical cup on <the small coaster with grain texture>.",
+    "Pick up the light blue plastic cup, guide it past the light blue shampoo bottle small size, and drop the light blue plastic cup on the flat round wooden coaster.",
+    "Carry the cup for holding liquids toward the wooden coaster, keeping the cup for holding liquids away from the shampoo bottle tapered toward cap, then set down.",
+    "Pick up the cup with light blue color, avoid the blue shampoo bottle along the way, and place the cup with light blue color on the flat surface gray wooden coaster.",
+    "Secure the blue rounded-bottom cup, keep its path away from the blue shampoo bottle slender design, and set the blue rounded-bottom cup on the light gray round grainy coaster.",
+    "Use an arm, keep the light blue plastic cup from the shampoo bottle with white cap, and lower the light blue plastic cup onto the flat surface gray wooden coaster.",
+    "Use an arm, pick the light blue plastic cup up, pass around the hand-sized shampoo bottle, then place the light blue plastic cup on the round coaster with light streaks.",
+    "With an arm, lift the medium-sized plastic blue cup, keep it away from the shampoo bottle tapered toward cap, and drop it onto the round coaster.",
+    "Using an arm, pick the smooth blue cup for liquids up, skirt the shampoo bottle tapered toward cap, and place the smooth blue cup for liquids on the light gray round grainy coaster.",
+    "Lift the cylindrical light blue cup, go around the light blue shampoo bottle small size, and position the cylindrical light blue cup squarely on the small coaster with grain texture.",
+    "Lift the medium blue cylindrical cup, guide it around <the small smooth shampoo bottle>, then put the medium blue cylindrical cup onto <the coaster with circular shape>.",
+    "Using an arm, move the medium blue cylindrical cup to <the small coaster with grain texture> while avoiding <the blue shampoo bottle slender design>, then release the medium blue cylindrical cup.",
+    "Use an arm: take the smooth blue cup for liquids, avoid the bottle of shampoo during the move, and drop it on the wooden coaster.",
+    "With an arm, lift the rounded base blue cup, route past <the blue shampoo bottle slender design>, and drop the rounded base blue cup onto <the grainy texture coaster>.",
+    "Grab the smooth blue drinking cup, route around the small smooth shampoo bottle, then lower the smooth blue drinking cup onto the grainy texture coaster.",
+    "Use the arm to carry the medium blue cylindrical cup around the blue shampoo bottle slender design, then rest the medium blue cylindrical cup on the round coaster.",
+    "Use an arm to move the light blue plastic cup around the blue shampoo bottle and rest the light blue plastic cup on the coaster made of smooth wood.",
+    "Use an arm to take the medium blue cylindrical cup around <the blue shampoo bottle> and place the medium blue cylindrical cup on <the flat surface gray wooden coaster>.",
+    "Slide the plastic cup for drinks toward the coaster made of smooth wood, detouring around the blue shampoo bottle slender design, then set the plastic cup for drinks down."
+  ],
+  "unseen": [
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the oval light blue shampoo container, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the smooth bottle containing shampoo>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the smooth bottle containing shampoo>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the blue cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the shampoo container white rounded top, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the shampoo container white rounded top>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container white rounded top>, and place it on <the light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container white rounded top, and place the small smooth cup on the light gray coaster.",
+    "Grab the blue cup, carry it around the smooth bottle containing shampoo, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container white rounded top, and place it on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the smooth bottle containing shampoo, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, route it around <the oval light blue shampoo container>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the oval light blue shampoo container, then set the blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container white rounded top>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the oval light blue shampoo container>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the oval light blue shampoo container>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the oval light blue shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container white rounded top, then place the blue cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the smooth bottle containing shampoo>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container white rounded top>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the oval light blue shampoo container, and place the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the oval light blue shampoo container, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container white rounded top, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the oval light blue shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the smooth bottle containing shampoo>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the small smooth cup, steer it around the shampoo container white rounded top, then set the small smooth cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the oval light blue shampoo container>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container white rounded top>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the smooth bottle containing shampoo>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the oval light blue shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the oval light blue shampoo container>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, guide it around <the shampoo container white rounded top>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo container white rounded top, and place the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the oval light blue shampoo container, then set the handheld round blue cup down on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo container white rounded top, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container white rounded top, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the smooth bottle containing shampoo, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the oval light blue shampoo container>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the oval light blue shampoo container, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the oval light blue shampoo container>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the smooth bottle containing shampoo, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container white rounded top>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo container white rounded top, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container white rounded top>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep clear of the oval light blue shampoo container, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the oval light blue shampoo container>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container white rounded top>, and place it on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the smooth bottle containing shampoo, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, carry it around the smooth bottle containing shampoo, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container white rounded top, and place it on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container white rounded top, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the shampoo container white rounded top>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the smooth bottle containing shampoo, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the oval light blue shampoo container>, then set the small smooth cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the smooth bottle containing shampoo>, and place the blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the smooth bottle containing shampoo, then place the small smooth cup onto the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the smooth bottle containing shampoo>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, guide it around <the oval light blue shampoo container>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the oval light blue shampoo container, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the smooth bottle containing shampoo, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the oval light blue shampoo container, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the oval light blue shampoo container, and place it on the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo container white rounded top, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the oval light blue shampoo container>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, steer it around the shampoo container white rounded top, then set the small smooth cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the oval light blue shampoo container>, then set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the smooth bottle containing shampoo>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo container white rounded top>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container white rounded top, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the oval light blue shampoo container>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the oval light blue shampoo container>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container white rounded top, and place the blue cup on the light gray coaster.",
+    "Grab the small smooth cup, carry it around the smooth bottle containing shampoo, then set the small smooth cup down on the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container white rounded top, and place it on the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the smooth bottle containing shampoo, and set it on the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the smooth bottle containing shampoo>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the blue cup, steer it around the smooth bottle containing shampoo, then set the blue cup onto the light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the shampoo container white rounded top>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the smooth bottle containing shampoo, and set the blue cup on the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode97.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode97.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f164d1a145b42eb0c47f5610292dd3e55db0996
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode97.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the cup with smooth plastic surface onto the flat round wooden coaster while avoiding the medium size shampoo bottle, then let go of the cup with smooth plastic surface.",
+    "Using an arm, grasp the smooth blue cup for liquids, skirt the shampoo bottle with matte black pump, and place the smooth blue cup for liquids atop the round coaster.",
+    "Lift the smooth blue drinking cup, carry it around the rectangular dark green shampoo bottle, and place the smooth blue drinking cup squarely on the flat surface gray wooden coaster.",
+    "Use an arm: pick the plastic cup for drinks up, skirt <the green shampoo bottle>, then place the plastic cup for drinks onto <the round coaster with light streaks>.",
+    "Lift the cup for holding liquids, guide it around <the shampoo bottle, green with black cap>, then put the cup for holding liquids onto <the light gray round grainy coaster>.",
+    "Lift the light blue plastic cup, route it away from the rectangular green plastic shampoo dispenser, then put the light blue plastic cup squarely on the coaster made of smooth wood.",
+    "Use an arm to take the cup for holding liquids around <the rectangular green plastic shampoo dispenser> and place the cup for holding liquids on <the small coaster with grain texture>.",
+    "With an arm, lift the blue rounded-bottom cup, avoid <the shampoo bottle with matte black pump> on the way, and drop the blue rounded-bottom cup on <the flat round wooden coaster>.",
+    "Move the cylindrical light blue cup to <the flat round wooden coaster> while keeping its path away from <the rectangular dark green shampoo bottle>.",
+    "With an arm, take the cylindrical light blue cup, avoid the medium size shampoo bottle, and put the cylindrical light blue cup on the round coaster.",
+    "Use the arm to lift the medium blue cylindrical cup, pass the rectangular green plastic shampoo dispenser, and place the medium blue cylindrical cup on the light gray streaked wooden coaster.",
+    "Slide the cup with light blue color toward the coaster with circular shape, detouring around the shampoo bottle, green with black cap, then set the cup with light blue color down.",
+    "Move the plastic cup for drinks onto the small coaster with grain texture while avoiding the shampoo bottle with matte black pump, then let go of the plastic cup for drinks.",
+    "With an arm, pick the medium blue cylindrical cup up, bypass <the shampoo bottle with matte black pump>, then place the medium blue cylindrical cup on <the small coaster with grain texture>.",
+    "Take the cylindrical light blue cup, swing wide of the rectangular green plastic shampoo dispenser, then rest the cylindrical light blue cup on the small coaster with grain texture.",
+    "Use the arm to carry the cup for holding liquids around the shampoo container with dispensing pump, then rest the cup for holding liquids on the smooth round palm-sized coaster.",
+    "With an arm, lift the rounded base blue cup, avoid the shampoo bottle with black pump, and set the rounded base blue cup onto the grainy texture coaster.",
+    "Use the arm to move the smooth blue drinking cup past <the green shampoo bottle> and rest it on <the coaster made of smooth wood>.",
+    "Slide the smooth blue drinking cup over to <the grainy texture coaster> without passing near <the hand-sized shampoo bottle>.",
+    "Take the light blue plastic cup, route it away from the green shampoo bottle, and set the light blue plastic cup onto the coaster with circular shape.",
+    "Carry the medium-sized plastic blue cup toward <the small coaster with grain texture>, skirting <the shampoo bottle, green with black cap>, and set the medium-sized plastic blue cup down.",
+    "With an arm, move the medium-sized plastic blue cup past the rectangular dark green shampoo bottle and place the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "Use an arm to move the cylindrical light blue cup toward the round coaster, keeping the cylindrical light blue cup clear of the rectangular dark green shampoo bottle.",
+    "Lift the plastic cup for drinks, pass beside <the green shampoo bottle> without contact, then place the plastic cup for drinks onto <the round coaster with light streaks>.",
+    "Use an arm, take the cylindrical light blue cup, avoid <the plastic shampoo container> on the way, and set on <the round coaster with light streaks>.",
+    "Lift the smooth blue drinking cup, go around the shampoo bottle with smooth surface, and position the smooth blue drinking cup squarely on the small coaster with grain texture.",
+    "Grab the rounded base blue cup, swing it away from <the rectangular green plastic shampoo dispenser>, and place the rounded base blue cup on <the round coaster>.",
+    "Move the rounded base blue cup onto <the light gray streaked wooden coaster> and ensure the path stays away from <the shampoo bottle with smooth surface>.",
+    "Lift the cup with smooth plastic surface, guide it past the shampoo bottle with matte black pump, and rest the cup with smooth plastic surface on the flat round wooden coaster.",
+    "Carry the medium blue cylindrical cup toward the smooth round palm-sized coaster, keeping the medium blue cylindrical cup away from the plastic shampoo container, then set down.",
+    "Pick up the light blue plastic cup, route it away from the shampoo bottle with black pump, then set the light blue plastic cup on the grainy texture coaster.",
+    "Use an arm to move the smooth blue cup for liquids around the hand-sized shampoo bottle and rest the smooth blue cup for liquids on the round coaster.",
+    "Move the smooth blue cup for liquids to <the light gray round grainy coaster> while keeping the smooth blue cup for liquids away from <the shampoo bottle with black pump>, then release.",
+    "Carry the cylindrical light blue cup toward <the flat surface gray wooden coaster>, keeping the path clear of <the rectangular green plastic shampoo dispenser>, then set down.",
+    "Secure the medium blue cylindrical cup, keep its path away from the rectangular green plastic shampoo dispenser, and set the medium blue cylindrical cup on the flat surface gray wooden coaster.",
+    "Use an arm: grasp the blue rounded-bottom cup, avoid <the rectangular dark green shampoo bottle>, and place the blue rounded-bottom cup on <the smooth round palm-sized coaster>.",
+    "Move the cup with smooth plastic surface toward the light gray streaked wooden coaster without passing near the shampoo bottle with smooth surface, then set it down.",
+    "Move the medium-sized plastic blue cup to the small coaster with grain texture while avoiding the dark green bottle with pump, then place the medium-sized plastic blue cup on the small coaster with grain texture.",
+    "With an arm, lift the cup for holding liquids, keep it away from the shampoo bottle, green with black cap, and drop it onto the round coaster.",
+    "With an arm, lift the cup for holding liquids, avoid the shampoo bottle with black pump, and place the cup for holding liquids on the round coaster.",
+    "With an arm, bring the cup with light blue color over to <the coaster with circular shape> and keep clear of <the dark green bottle with pump>.",
+    "Secure the cup for holding liquids, move it around the rectangular green plastic shampoo dispenser, and place the cup for holding liquids squarely on the coaster made of smooth wood.",
+    "Use an arm to bring the cup with smooth plastic surface to the grainy texture coaster, keeping the cup with smooth plastic surface clear of the hand-sized shampoo bottle.",
+    "Use an arm, pick the smooth blue cup for liquids up, pass around the medium size shampoo bottle, then place the smooth blue cup for liquids on the round coaster with light streaks.",
+    "Pick the light blue plastic cup up, route it away from the shampoo bottle, green with black cap, and drop the light blue plastic cup onto the coaster made of smooth wood.",
+    "With an arm, lift the light blue plastic cup, guide it past the shampoo bottle, green with black cap, and put the light blue plastic cup on the smooth round palm-sized coaster.",
+    "Use an arm: grab the light blue plastic cup, avoid the medium size shampoo bottle on the way, then set the light blue plastic cup on the round coaster with light streaks.",
+    "Use an arm to move the rounded base blue cup to the coaster with circular shape, keeping the rounded base blue cup from bumping the shampoo container with dispensing pump.",
+    "Use an arm, keep the cup with light blue color from the rectangular dark green shampoo bottle, and lower the cup with light blue color onto the round coaster with light streaks.",
+    "Take the cup for holding liquids, keep its path away from the rectangular green plastic shampoo dispenser, and drop the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Use an arm to grab the plastic cup for drinks, avoid the shampoo bottle with black pump, and set the plastic cup for drinks down on the small coaster with grain texture.",
+    "Arm-lift the plastic cup for drinks, swing around <the shampoo bottle with smooth surface>, then place the plastic cup for drinks onto <the coaster with circular shape>.",
+    "Take the cylindrical light blue cup, guide it away from <the shampoo bottle with smooth surface>, and place the cylindrical light blue cup squarely on <the wooden coaster>.",
+    "Move the medium-sized plastic blue cup to the light gray streaked wooden coaster without crossing the shampoo bottle with black pump, then release the medium-sized plastic blue cup.",
+    "Pick up the rounded base blue cup, avoid the shampoo bottle, green with black cap along the way, and place the rounded base blue cup on the small coaster with grain texture.",
+    "Using an arm, pick the smooth blue cup for liquids up, skirt the green shampoo bottle, and place the smooth blue cup for liquids on the coaster made of smooth wood.",
+    "Lift the cup with light blue color, keep clear of the green shampoo bottle, and put the cup with light blue color down on the grainy texture coaster.",
+    "Take the smooth blue cup for liquids to the flat round wooden coaster while skirting the shampoo bottle with smooth surface, then release the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Using an arm, move the rounded base blue cup to <the flat round wooden coaster> while avoiding <the shampoo bottle with matte black pump>, then release the rounded base blue cup.",
+    "Grab the plastic cup for drinks, route around the hand-sized shampoo bottle, then lower the plastic cup for drinks onto the round coaster.",
+    "Use an arm, take the plastic cup for drinks past the shampoo bottle with matte black pump without nearing it, and rest the plastic cup for drinks on the smooth round palm-sized coaster.",
+    "With an arm, lift the smooth blue cup for liquids, route past <the shampoo container with dispensing pump>, and drop the smooth blue cup for liquids onto <the flat round wooden coaster>.",
+    "Pick up the cup for holding liquids, keep clear of <the plastic shampoo container>, and drop the cup for holding liquids onto <the round coaster>.",
+    "Using an arm, carry the blue rounded-bottom cup around the shampoo container with dispensing pump and place the blue rounded-bottom cup onto the smooth round palm-sized coaster.",
+    "Pick up the light blue plastic cup, guide it past the rectangular green plastic shampoo dispenser, and drop the light blue plastic cup on the round coaster with light streaks.",
+    "Lift the light blue plastic cup, arc around the shampoo bottle with black pump, and place the light blue plastic cup squarely on the round coaster with light streaks.",
+    "Use an arm to lift the medium-sized plastic blue cup, arc around the shampoo bottle with matte black pump, and place the medium-sized plastic blue cup atop the round coaster with light streaks.",
+    "Lift the cup with smooth plastic surface, steer away from <the dark green bottle with pump>, then place the cup with smooth plastic surface on <the grainy texture coaster>.",
+    "Pick up the medium blue cylindrical cup, keep its path away from <the plastic shampoo container>, and set the medium blue cylindrical cup on <the flat round wooden coaster>.",
+    "Use an arm: take the smooth blue drinking cup, avoid the dark green bottle with pump during the move, and drop it on the coaster with circular shape.",
+    "Guide the rounded base blue cup with the arm around <the rectangular green plastic shampoo dispenser> and onto <the light gray round grainy coaster>.",
+    "Grab the cup with light blue color, guide it away from the rectangular dark green shampoo bottle, and set the cup with light blue color neatly on the grainy texture coaster.",
+    "Carry the cup for holding liquids toward <the round coaster>, keeping clear of <the shampoo container with dispensing pump>, and set the cup for holding liquids down.",
+    "Use an arm to lift the medium-sized plastic blue cup, keep distance from <the medium size shampoo bottle>, and set the medium-sized plastic blue cup on <the small coaster with grain texture>.",
+    "Take the smooth blue cup for liquids in the arm, route around <the dark green bottle with pump>, and set it on <the grainy texture coaster>.",
+    "Using an arm, carry the plastic cup for drinks past <the shampoo bottle, green with black cap> and place the plastic cup for drinks squarely on <the coaster with circular shape>.",
+    "Using an arm, pick the medium-sized plastic blue cup up, skirt the plastic shampoo container, and place the medium-sized plastic blue cup on the flat surface gray wooden coaster.",
+    "Take the medium-sized plastic blue cup, arc around <the shampoo bottle with smooth surface>, and place the medium-sized plastic blue cup neatly on <the round coaster with light streaks>.",
+    "Take the blue rounded-bottom cup, keep its path away from the dark green bottle with pump, and place the blue rounded-bottom cup on the round coaster.",
+    "Lift the plastic cup for drinks, pass by the shampoo bottle, green with black cap without contact, then place the plastic cup for drinks on the round coaster with light streaks.",
+    "Move the cup with light blue color onto the coaster with circular shape while avoiding the hand-sized shampoo bottle, then let go of the cup with light blue color.",
+    "Using an arm, grasp the cylindrical light blue cup, skirt the rectangular green plastic shampoo dispenser, and place the cylindrical light blue cup atop the flat surface gray wooden coaster.",
+    "Lift the smooth blue drinking cup, carry it around the green shampoo bottle, and place the smooth blue drinking cup squarely on the flat surface gray wooden coaster.",
+    "Use an arm: pick the cup with light blue color up, skirt <the rectangular green plastic shampoo dispenser>, then place the cup with light blue color onto <the flat surface gray wooden coaster>.",
+    "Lift the cup with light blue color, guide it around <the rectangular dark green shampoo bottle>, then put the cup with light blue color onto <the coaster made of smooth wood>.",
+    "Lift the light blue plastic cup, route it away from the shampoo bottle, green with black cap, then put the light blue plastic cup squarely on the small coaster with grain texture.",
+    "Use an arm to take the medium-sized plastic blue cup around <the rectangular green plastic shampoo dispenser> and place the medium-sized plastic blue cup on <the coaster made of smooth wood>.",
+    "With an arm, lift the cup with smooth plastic surface, avoid <the shampoo bottle with smooth surface> on the way, and drop the cup with smooth plastic surface on <the flat round wooden coaster>.",
+    "Move the blue rounded-bottom cup to <the light gray round grainy coaster> while keeping its path away from <the dark green bottle with pump>.",
+    "With an arm, take the smooth blue drinking cup, avoid the rectangular green plastic shampoo dispenser, and put the smooth blue drinking cup on the wooden coaster.",
+    "Use the arm to lift the blue rounded-bottom cup, pass the shampoo bottle, green with black cap, and place the blue rounded-bottom cup on the light gray round grainy coaster.",
+    "Slide the cup for holding liquids toward the light gray streaked wooden coaster, detouring around the rectangular green plastic shampoo dispenser, then set the cup for holding liquids down.",
+    "Move the medium blue cylindrical cup onto the grainy texture coaster while avoiding the rectangular dark green shampoo bottle, then let go of the medium blue cylindrical cup.",
+    "With an arm, pick the light blue plastic cup up, bypass <the hand-sized shampoo bottle>, then place the light blue plastic cup on <the light gray streaked wooden coaster>.",
+    "Take the smooth blue drinking cup, swing wide of the plastic shampoo container, then rest the smooth blue drinking cup on the wooden coaster.",
+    "Use the arm to carry the cylindrical light blue cup around the plastic shampoo container, then rest the cylindrical light blue cup on the coaster made of smooth wood.",
+    "With an arm, lift the cup with light blue color, avoid the rectangular green plastic shampoo dispenser, and set the cup with light blue color onto the round coaster with light streaks.",
+    "Use the arm to move the rounded base blue cup past <the plastic shampoo container> and rest it on <the wooden coaster>.",
+    "Slide the blue rounded-bottom cup over to <the coaster with circular shape> without passing near <the shampoo bottle with black pump>.",
+    "Take the medium-sized plastic blue cup, route it away from the plastic shampoo container, and set the medium-sized plastic blue cup onto the coaster with circular shape."
+  ],
+  "unseen": [
+    "Grab the handheld round blue cup, keep it clear of the green bottle with pump top, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the green bottle with pump top, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the dark green pump shampoo bottle, and place it on the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle for personal use, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the green bottle with pump top>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, steer around the shampoo bottle for personal use, and set it on the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the green bottle with pump top>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the green bottle with pump top, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the green bottle with pump top, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Pick up the blue cup, keep clear of the green bottle with pump top, then place the blue cup onto the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle for personal use, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, guide it around <the dark green pump shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the dark green pump shampoo bottle, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo bottle for personal use>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo bottle for personal use>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the dark green pump shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle for personal use, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the green bottle with pump top, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the dark green pump shampoo bottle, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo bottle for personal use, and place the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the small smooth cup, avoid <the shampoo bottle for personal use>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the green bottle with pump top, and set it on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the dark green pump shampoo bottle>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, steer it around the green bottle with pump top, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the green bottle with pump top, and set the handheld round blue cup on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the dark green pump shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo bottle for personal use, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, guide it around <the dark green pump shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo bottle for personal use, then set the handheld round blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the green bottle with pump top>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo bottle for personal use>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the shampoo bottle for personal use>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the green bottle with pump top, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the green bottle with pump top, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the green bottle with pump top, and place it on the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the dark green pump shampoo bottle, and place the blue cup on the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the dark green pump shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the dark green pump shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the dark green pump shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the dark green pump shampoo bottle, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the green bottle with pump top, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo bottle for personal use, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the dark green pump shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the dark green pump shampoo bottle>, and place it on <the disc-shaped light gray coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo bottle for personal use, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the green bottle with pump top>, and place the small smooth cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the dark green pump shampoo bottle>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, route it around <the dark green pump shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the green bottle with pump top, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the dark green pump shampoo bottle, and set the blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the dark green pump shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo bottle for personal use, and place the blue cup on the light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the green bottle with pump top>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the dark green pump shampoo bottle, and set it on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the green bottle with pump top>, and set the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, steer it around the shampoo bottle for personal use, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the green bottle with pump top, and set the handheld round blue cup on the light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the green bottle with pump top, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the green bottle with pump top, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the green bottle with pump top>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the shampoo bottle for personal use, then set the blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the dark green pump shampoo bottle>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the green bottle with pump top>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, route it around <the green bottle with pump top>, then place the blue cup onto <the light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle for personal use, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around the green bottle with pump top, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the dark green pump shampoo bottle, and place it on the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, avoid the green bottle with pump top, and place the blue cup on the small drink-protecting wooden coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo bottle for personal use>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo bottle for personal use, and set it on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the green bottle with pump top>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, steer it around the green bottle with pump top, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the green bottle with pump top, and set the blue cup on the disc-shaped light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the dark green pump shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo bottle for personal use, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the blue cup, guide it around <the green bottle with pump top>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the green bottle with pump top, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the dark green pump shampoo bottle>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the green bottle with pump top>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the small smooth cup, route it around <the green bottle with pump top>, then place the small smooth cup onto <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the green bottle with pump top, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle for personal use, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the green bottle with pump top, and place it on the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the shampoo bottle for personal use, and place the small smooth cup on the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the dark green pump shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, steer around the green bottle with pump top, and set it on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the dark green pump shampoo bottle>, and set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, steer it around the shampoo bottle for personal use, then set the blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the dark green pump shampoo bottle, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the green bottle with pump top, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the dark green pump shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the blue cup, guide it around <the green bottle with pump top>, and place it on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the dark green pump shampoo bottle, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the green bottle with pump top>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the green bottle with pump top>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, route it around <the dark green pump shampoo bottle>, then place the handheld round blue cup onto <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the shampoo bottle for personal use, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the shampoo bottle for personal use, and set the small smooth cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the green bottle with pump top, and place it on the light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the green bottle with pump top, and place the handheld round blue cup on the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode98.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode98.json
new file mode 100644
index 0000000000000000000000000000000000000000..375af0bdc775035ab1d278cb3750afc26472bab0
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode98.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the cup with smooth plastic surface, move it around the small smooth shampoo bottle, and place the cup with smooth plastic surface squarely on the smooth round palm-sized coaster.",
+    "Take the cylindrical light blue cup, keep its path away from the light blue shampoo bottle small size, and drop the cylindrical light blue cup on the light gray round grainy coaster.",
+    "Move the cup with light blue color to the smooth round palm-sized coaster while avoiding the shampoo bottle with matte plastic, then place the cup with light blue color on the smooth round palm-sized coaster.",
+    "Use an arm to take the blue rounded-bottom cup around <the bottle light blue rounded shape> and place the blue rounded-bottom cup on <the small coaster with grain texture>.",
+    "Use an arm to move the cup with smooth plastic surface around the bottle light blue rounded shape and rest the cup with smooth plastic surface on the wooden coaster.",
+    "Lift the medium blue cylindrical cup, go around the blue shampoo bottle slender design, and position the medium blue cylindrical cup squarely on the grainy texture coaster.",
+    "Move the smooth blue cup for liquids toward the wooden coaster without passing near the bottle light blue rounded shape, then set it down.",
+    "Lift the blue rounded-bottom cup, pass beside <the bottle light blue rounded shape> without contact, then place the blue rounded-bottom cup onto <the light gray streaked wooden coaster>.",
+    "Use an arm: pick the cup for holding liquids up, skirt <the shampoo bottle with white cap>, then place the cup for holding liquids onto <the light gray round grainy coaster>.",
+    "Use an arm, pick the cup with smooth plastic surface up, pass around the shampoo bottle with matte plastic, then place the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Take the light blue plastic cup, guide it away from <the shampoo bottle with matte plastic>, and place the light blue plastic cup squarely on <the light gray streaked wooden coaster>.",
+    "Use an arm: grasp the plastic cup for drinks, avoid <the curved light blue shampoo bottle>, and place the plastic cup for drinks on <the grainy texture coaster>.",
+    "Move the smooth blue drinking cup onto <the smooth round palm-sized coaster> and ensure the path stays away from <the shampoo bottle tapered toward cap>.",
+    "Take the light blue plastic cup, keep its path away from the shampoo bottle flat bottom edge, and place the light blue plastic cup on the coaster with circular shape.",
+    "Use an arm to lift the cup with smooth plastic surface, arc around the shampoo bottle with white cap, and place the cup with smooth plastic surface atop the round coaster with light streaks.",
+    "Move the cup with light blue color onto the light gray streaked wooden coaster while avoiding the shampoo bottle with white cap, then let go of the cup with light blue color.",
+    "Pick up the plastic cup for drinks, avoid the blue shampoo bottle slender design along the way, and place the plastic cup for drinks on the light gray round grainy coaster.",
+    "Use an arm: take the cup with smooth plastic surface, avoid the light blue shampoo bottle small size during the move, and drop it on the flat surface gray wooden coaster.",
+    "Use an arm to move the cup with smooth plastic surface toward the light gray round grainy coaster, keeping the cup with smooth plastic surface clear of the curved light blue shampoo bottle.",
+    "Using an arm, carry the medium blue cylindrical cup past <the bottle light blue rounded shape> and place the medium blue cylindrical cup squarely on <the flat round wooden coaster>.",
+    "Using an arm, pick the smooth blue cup for liquids up, skirt the curved light blue shampoo bottle, and place the smooth blue cup for liquids on the round coaster with light streaks.",
+    "Take the cup with smooth plastic surface to the round coaster with light streaks while skirting the shampoo bottle tapered toward cap, then release the cup with smooth plastic surface on the round coaster with light streaks.",
+    "Use the arm to lift the medium-sized plastic blue cup, pass the bottle light blue rounded shape, and place the medium-sized plastic blue cup on the flat surface gray wooden coaster.",
+    "Guide the cup for holding liquids with the arm around <the blue shampoo bottle slender design> and onto <the grainy texture coaster>.",
+    "Use an arm, take the rounded base blue cup, avoid <the small smooth shampoo bottle> on the way, and set on <the flat surface gray wooden coaster>.",
+    "Move the cup for holding liquids to <the flat surface gray wooden coaster> while keeping the cup for holding liquids away from <the blue shampoo bottle slender design>, then release.",
+    "With an arm, lift the cup with smooth plastic surface, avoid <the shampoo bottle with white cap> on the way, and drop the cup with smooth plastic surface on <the smooth round palm-sized coaster>.",
+    "Using an arm, move the cup with light blue color to <the grainy texture coaster> while avoiding <the hand-sized shampoo bottle>, then release the cup with light blue color.",
+    "Carry the cup for holding liquids toward <the wooden coaster>, keeping the path clear of <the shampoo bottle tapered toward cap>, then set down.",
+    "Using an arm, grasp the medium-sized plastic blue cup, skirt the light blue shampoo bottle small size, and place the medium-sized plastic blue cup atop the smooth round palm-sized coaster.",
+    "Use an arm, keep the plastic cup for drinks from the blue shampoo bottle slender design, and lower the plastic cup for drinks onto the light gray round grainy coaster.",
+    "Pick up the plastic cup for drinks, keep its path away from <the shampoo bottle flat bottom edge>, and set the plastic cup for drinks on <the coaster made of smooth wood>.",
+    "Using an arm, pick the cup for holding liquids up, skirt the shampoo bottle flat bottom edge, and place the cup for holding liquids on the small coaster with grain texture.",
+    "Use the arm to move the plastic cup for drinks past <the shampoo bottle with matte plastic> and rest it on <the light gray round grainy coaster>.",
+    "Take the cup with light blue color, swing wide of the small smooth shampoo bottle, then rest the cup with light blue color on the flat round wooden coaster.",
+    "With an arm, lift the smooth blue drinking cup, avoid the shampoo bottle with matte plastic, and place the smooth blue drinking cup on the coaster made of smooth wood.",
+    "Slide the light blue plastic cup over to <the grainy texture coaster> without passing near <the bottle of shampoo>.",
+    "Grab the medium blue cylindrical cup, guide it away from the hand-sized shampoo bottle, and set the medium blue cylindrical cup neatly on the round coaster with light streaks.",
+    "With an arm, lift the medium-sized plastic blue cup, guide it past the shampoo bottle with matte plastic, and put the medium-sized plastic blue cup on the flat round wooden coaster.",
+    "Lift the medium-sized plastic blue cup, steer away from <the bottle light blue rounded shape>, then place the medium-sized plastic blue cup on <the coaster made of smooth wood>.",
+    "With an arm, pick the blue rounded-bottom cup up, bypass <the shampoo bottle with matte plastic>, then place the blue rounded-bottom cup on <the grainy texture coaster>.",
+    "Lift the light blue plastic cup, pass by the hand-sized shampoo bottle without contact, then place the light blue plastic cup on the round coaster with light streaks.",
+    "Take the light blue plastic cup in the arm, route around <the light blue shampoo bottle small size>, and set it on <the round coaster>.",
+    "With an arm, lift the plastic cup for drinks, avoid the light blue shampoo bottle small size, and set the plastic cup for drinks onto the wooden coaster.",
+    "Arm-lift the plastic cup for drinks, swing around <the small smooth shampoo bottle>, then place the plastic cup for drinks onto <the light gray round grainy coaster>.",
+    "Pick up the smooth blue drinking cup, guide it past the small smooth shampoo bottle, and drop the smooth blue drinking cup on the coaster made of smooth wood.",
+    "Grab the medium-sized plastic blue cup, route around the small smooth shampoo bottle, then lower the medium-sized plastic blue cup onto the wooden coaster.",
+    "Lift the medium blue cylindrical cup, carry it around the shampoo bottle with matte plastic, and place the medium blue cylindrical cup squarely on the flat surface gray wooden coaster.",
+    "Using an arm, carry the blue rounded-bottom cup around the shampoo bottle with matte plastic and place the blue rounded-bottom cup onto the wooden coaster.",
+    "Carry the blue rounded-bottom cup toward <the wooden coaster>, keeping clear of <the hand-sized shampoo bottle>, and set the blue rounded-bottom cup down.",
+    "Slide the blue rounded-bottom cup toward the small coaster with grain texture, detouring around the blue shampoo bottle, then set the blue rounded-bottom cup down.",
+    "Use an arm to move the plastic cup for drinks to the round coaster, keeping the plastic cup for drinks from bumping the shampoo bottle tapered toward cap.",
+    "Carry the rounded base blue cup toward the light gray streaked wooden coaster, keeping the rounded base blue cup away from the hand-sized shampoo bottle, then set down.",
+    "Pick up the cup with smooth plastic surface, route it away from the shampoo bottle with white cap, then set the cup with smooth plastic surface on the light gray round grainy coaster.",
+    "Pick up the rounded base blue cup, keep clear of <the bottle light blue rounded shape>, and drop the rounded base blue cup onto <the smooth round palm-sized coaster>.",
+    "Use an arm, take the blue rounded-bottom cup past the shampoo bottle with matte plastic without nearing it, and rest the blue rounded-bottom cup on the flat round wooden coaster.",
+    "Take the plastic cup for drinks, arc around <the curved light blue shampoo bottle>, and place the plastic cup for drinks neatly on <the grainy texture coaster>.",
+    "Pick the medium-sized plastic blue cup up, route it away from the shampoo bottle with matte plastic, and drop the medium-sized plastic blue cup onto the round coaster with light streaks.",
+    "With an arm, bring the smooth blue drinking cup over to <the coaster made of smooth wood> and keep clear of <the blue shampoo bottle slender design>.",
+    "Take the rounded base blue cup, route it away from the hand-sized shampoo bottle, and set the rounded base blue cup onto the flat surface gray wooden coaster.",
+    "Lift the medium blue cylindrical cup, guide it past the small smooth shampoo bottle, and rest the medium blue cylindrical cup on the round coaster.",
+    "Secure the cup with light blue color, keep its path away from the light blue shampoo bottle small size, and set the cup with light blue color on the wooden coaster.",
+    "Lift the cup with light blue color, keep clear of the light blue shampoo bottle small size, and put the cup with light blue color down on the round coaster.",
+    "With an arm, lift the smooth blue cup for liquids, keep it away from the blue shampoo bottle, and drop it onto the flat round wooden coaster.",
+    "Use an arm to lift the medium blue cylindrical cup, keep distance from <the hand-sized shampoo bottle>, and set the medium blue cylindrical cup on <the coaster with circular shape>.",
+    "With an arm, move the blue rounded-bottom cup past the shampoo bottle with matte plastic and place the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Move the cup with smooth plastic surface onto the round coaster while avoiding the hand-sized shampoo bottle, then let go of the cup with smooth plastic surface.",
+    "Use an arm to grab the medium-sized plastic blue cup, avoid the light blue shampoo bottle small size, and set the medium-sized plastic blue cup down on the round coaster with light streaks.",
+    "Lift the cup with smooth plastic surface, arc around the hand-sized shampoo bottle, and place the cup with smooth plastic surface squarely on the round coaster with light streaks.",
+    "Move the medium blue cylindrical cup to the flat round wooden coaster without crossing the blue shampoo bottle, then release the medium blue cylindrical cup.",
+    "Grab the rounded base blue cup, swing it away from <the bottle light blue rounded shape>, and place the rounded base blue cup on <the coaster made of smooth wood>.",
+    "Use the arm to carry the cup for holding liquids around the shampoo bottle with matte plastic, then rest the cup for holding liquids on the wooden coaster.",
+    "With an arm, take the plastic cup for drinks, avoid the bottle of shampoo, and put the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Lift the rounded base blue cup, route it away from the blue shampoo bottle slender design, then put the rounded base blue cup squarely on the coaster made of smooth wood.",
+    "Carry the medium-sized plastic blue cup toward <the small coaster with grain texture>, skirting <the blue shampoo bottle>, and set the medium-sized plastic blue cup down.",
+    "Use an arm: grab the cup with smooth plastic surface, avoid the curved light blue shampoo bottle on the way, then set the cup with smooth plastic surface on the coaster made of smooth wood.",
+    "Lift the medium-sized plastic blue cup, guide it around <the hand-sized shampoo bottle>, then put the medium-sized plastic blue cup onto <the light gray round grainy coaster>.",
+    "Use an arm to bring the cup with light blue color to the round coaster, keeping the cup with light blue color clear of the shampoo bottle flat bottom edge.",
+    "With an arm, lift the smooth blue drinking cup, route past <the blue shampoo bottle>, and drop the smooth blue drinking cup onto <the light gray round grainy coaster>.",
+    "Move the smooth blue drinking cup to <the round coaster with light streaks> while keeping its path away from <the shampoo bottle with matte plastic>.",
+    "Secure the medium blue cylindrical cup, move it around the shampoo bottle with white cap, and place the medium blue cylindrical cup squarely on the grainy texture coaster.",
+    "Take the rounded base blue cup, keep its path away from the shampoo bottle with matte plastic, and drop the rounded base blue cup on the round coaster.",
+    "Move the smooth blue drinking cup to the small coaster with grain texture while avoiding the small smooth shampoo bottle, then place the smooth blue drinking cup on the small coaster with grain texture.",
+    "Use an arm to take the cup with light blue color around <the shampoo bottle tapered toward cap> and place the cup with light blue color on <the grainy texture coaster>.",
+    "Use an arm to move the rounded base blue cup around the blue shampoo bottle and rest the rounded base blue cup on the light gray round grainy coaster.",
+    "Lift the light blue plastic cup, go around the small smooth shampoo bottle, and position the light blue plastic cup squarely on the grainy texture coaster.",
+    "Move the medium blue cylindrical cup toward the wooden coaster without passing near the shampoo bottle tapered toward cap, then set it down.",
+    "Lift the light blue plastic cup, pass beside <the bottle light blue rounded shape> without contact, then place the light blue plastic cup onto <the flat surface gray wooden coaster>.",
+    "Use an arm: pick the smooth blue drinking cup up, skirt <the blue shampoo bottle>, then place the smooth blue drinking cup onto <the wooden coaster>.",
+    "Use an arm, pick the cup with smooth plastic surface up, pass around the light blue shampoo bottle small size, then place the cup with smooth plastic surface on the smooth round palm-sized coaster.",
+    "Take the plastic cup for drinks, guide it away from <the shampoo bottle flat bottom edge>, and place the plastic cup for drinks squarely on <the flat surface gray wooden coaster>.",
+    "Use an arm: grasp the rounded base blue cup, avoid <the blue shampoo bottle slender design>, and place the rounded base blue cup on <the round coaster with light streaks>.",
+    "Move the cup with smooth plastic surface onto <the smooth round palm-sized coaster> and ensure the path stays away from <the shampoo bottle with matte plastic>.",
+    "Take the medium-sized plastic blue cup, keep its path away from the shampoo bottle with matte plastic, and place the medium-sized plastic blue cup on the coaster made of smooth wood.",
+    "Use an arm to lift the cylindrical light blue cup, arc around the curved light blue shampoo bottle, and place the cylindrical light blue cup atop the coaster with circular shape.",
+    "Move the plastic cup for drinks onto the wooden coaster while avoiding the small smooth shampoo bottle, then let go of the plastic cup for drinks.",
+    "Pick up the medium-sized plastic blue cup, avoid the curved light blue shampoo bottle along the way, and place the medium-sized plastic blue cup on the smooth round palm-sized coaster.",
+    "Use an arm: take the blue rounded-bottom cup, avoid the shampoo bottle with white cap during the move, and drop it on the light gray round grainy coaster.",
+    "Use an arm to move the cup with smooth plastic surface toward the small coaster with grain texture, keeping the cup with smooth plastic surface clear of the blue shampoo bottle slender design.",
+    "Using an arm, carry the cup with smooth plastic surface past <the shampoo bottle tapered toward cap> and place the cup with smooth plastic surface squarely on <the light gray streaked wooden coaster>."
+  ],
+  "unseen": [
+    "Use an arm to grab the small smooth cup, steer around <the oval light blue shampoo container>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the smooth bottle containing shampoo>, and place it on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the smooth bottle containing shampoo, and place the blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer clear of the oval light blue shampoo container, and place it on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the smooth bottle containing shampoo, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the smooth bottle containing shampoo>, then place the small smooth cup onto <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the oval light blue shampoo container>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the smooth bottle containing shampoo>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around the shampoo container white rounded top, and set the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container white rounded top, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, steer it around the oval light blue shampoo container, then set the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the shampoo container white rounded top>, and place the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the oval light blue shampoo container>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container white rounded top>, and place it on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the oval light blue shampoo container, and place the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the smooth bottle containing shampoo, and place it on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo container white rounded top, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, carry it around the oval light blue shampoo container, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the smooth bottle containing shampoo>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the oval light blue shampoo container, and set the handheld round blue cup on the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the smooth bottle containing shampoo>, and set the small smooth cup on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the oval light blue shampoo container>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the oval light blue shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the smooth bottle containing shampoo, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo container white rounded top, then set the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the shampoo container white rounded top>, and place the blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the shampoo container white rounded top>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, guide it around <the shampoo container white rounded top>, and place it on <the light gray coaster>.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container white rounded top, and place the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container white rounded top, and place it on the light gray coaster.",
+    "Pick up the small smooth cup, keep clear of the smooth bottle containing shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, carry it around the shampoo container white rounded top, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, route it around <the oval light blue shampoo container>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the oval light blue shampoo container>, and set the small smooth cup on <the light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the smooth bottle containing shampoo>, then set the small smooth cup on <the light gray coaster>.",
+    "Grab the blue cup, keep it clear of the oval light blue shampoo container, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the smooth bottle containing shampoo, then place the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the oval light blue shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the oval light blue shampoo container, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the smooth bottle containing shampoo>, and place the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the smooth bottle containing shampoo>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, guide it around <the oval light blue shampoo container>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the small smooth cup, avoid the smooth bottle containing shampoo, and place the small smooth cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer clear of the shampoo container white rounded top, and place it on the disc-shaped light gray coaster.",
+    "Pick up the handheld round blue cup, keep clear of the oval light blue shampoo container, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, carry it around the smooth bottle containing shampoo, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container white rounded top>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the oval light blue shampoo container>, and set the blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the oval light blue shampoo container>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, keep it clear of the oval light blue shampoo container, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the smooth bottle containing shampoo, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the oval light blue shampoo container, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, steer it around the smooth bottle containing shampoo, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container white rounded top>, and place the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the smooth bottle containing shampoo>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the shampoo container white rounded top>, and place it on <the light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container white rounded top, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the shampoo container white rounded top, and place it on the light gray coaster.",
+    "Pick up the blue cup, keep clear of the shampoo container white rounded top, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, carry it around the smooth bottle containing shampoo, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, route it around <the smooth bottle containing shampoo>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the oval light blue shampoo container, and set the small smooth cup on the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container white rounded top>, and set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "With an arm, lift the blue cup, avoid <the smooth bottle containing shampoo>, then set the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, keep it clear of the smooth bottle containing shampoo, then place the blue cup onto the light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around the smooth bottle containing shampoo, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the small smooth cup, steer around the oval light blue shampoo container, and set it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the oval light blue shampoo container, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the oval light blue shampoo container>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the smooth bottle containing shampoo>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the blue cup, guide it around <the oval light blue shampoo container>, and place it on <the disc-shaped light gray coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container white rounded top, and place the blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer clear of the oval light blue shampoo container, and place it on the small drink-protecting wooden coaster.",
+    "Pick up the handheld round blue cup, keep clear of the oval light blue shampoo container, then place the handheld round blue cup onto the light gray coaster.",
+    "Grab the small smooth cup, carry it around the smooth bottle containing shampoo, then set the small smooth cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the smooth bottle containing shampoo>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container white rounded top, and set the handheld round blue cup on the light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container white rounded top>, and set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "With an arm, lift the small smooth cup, avoid <the oval light blue shampoo container>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Grab the handheld round blue cup, keep it clear of the shampoo container white rounded top, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to grab the small smooth cup, steer around the smooth bottle containing shampoo, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container white rounded top, then place the small smooth cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the oval light blue shampoo container, and set it on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the oval light blue shampoo container, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to grab the handheld round blue cup, steer around <the smooth bottle containing shampoo>, and place the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the oval light blue shampoo container>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, guide it around <the smooth bottle containing shampoo>, and place it on <the small drink-protecting wooden coaster>.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container white rounded top, and place the blue cup on the small drink-protecting wooden coaster."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode99.json b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode99.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f34db4c03fe472bd7e2a5a9d15734afaf4a8cda
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/instructions/episode99.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the arm to carry the rounded base blue cup around the plastic shampoo bottle, then rest the rounded base blue cup on the coaster with circular shape.",
+    "Lift the blue rounded-bottom cup, pass by the curved shampoo bottle without contact, then place the blue rounded-bottom cup on the light gray round grainy coaster.",
+    "With an arm, lift the medium blue cylindrical cup, guide it past the shampoo bottle with curved sides, and put the medium blue cylindrical cup on the grainy texture coaster.",
+    "Use an arm: grab the plastic cup for drinks, avoid the plastic shampoo bottle on the way, then set the plastic cup for drinks on the flat surface gray wooden coaster.",
+    "Carry the rounded base blue cup toward <the smooth round palm-sized coaster>, keeping the path clear of <the shampoo bottle with blue cap>, then set down.",
+    "Slide the medium blue cylindrical cup over to <the wooden coaster> without passing near <the plastic shampoo bottle>.",
+    "With an arm, lift the blue rounded-bottom cup, avoid the handheld shampoo container, and set the blue rounded-bottom cup onto the round coaster.",
+    "Take the smooth blue drinking cup, keep its path away from the bottle with hexagonal blue cap, and place the smooth blue drinking cup on the smooth round palm-sized coaster.",
+    "Move the blue rounded-bottom cup to <the round coaster> while keeping the blue rounded-bottom cup away from <the curved shampoo bottle>, then release.",
+    "Carry the plastic cup for drinks toward <the coaster with circular shape>, skirting <the plastic shampoo bottle>, and set the plastic cup for drinks down.",
+    "Using an arm, pick the medium-sized plastic blue cup up, skirt the plastic shampoo with orange label, and place the medium-sized plastic blue cup on the coaster with circular shape.",
+    "Take the cylindrical light blue cup, arc around <the plastic shampoo with orange label>, and place the cylindrical light blue cup neatly on <the round coaster with light streaks>.",
+    "Move the plastic cup for drinks to <the light gray round grainy coaster> while keeping its path away from <the white shampoo bottle>.",
+    "Guide the smooth blue cup for liquids with the arm around <the curved shampoo bottle> and onto <the grainy texture coaster>.",
+    "Lift the cup with light blue color, steer away from <the shampoo bottle with blue cap>, then place the cup with light blue color on <the wooden coaster>.",
+    "Lift the cup for holding liquids, route it away from the plastic shampoo with orange label, then put the cup for holding liquids squarely on the flat round wooden coaster.",
+    "Use an arm to move the blue rounded-bottom cup to the coaster with circular shape, keeping the blue rounded-bottom cup from bumping the shampoo bottle with blue cap.",
+    "Move the medium blue cylindrical cup toward the grainy texture coaster without passing near the plastic shampoo bottle, then set it down.",
+    "Using an arm, carry the cup with smooth plastic surface around the plastic shampoo with orange label and place the cup with smooth plastic surface onto the coaster made of smooth wood.",
+    "Secure the medium blue cylindrical cup, keep its path away from the white shampoo bottle, and set the medium blue cylindrical cup on the small coaster with grain texture.",
+    "Lift the blue rounded-bottom cup, carry it around the curved shampoo bottle, and place the blue rounded-bottom cup squarely on the flat round wooden coaster.",
+    "Lift the rounded base blue cup, pass beside <the white shampoo bottle> without contact, then place the rounded base blue cup onto <the round coaster>.",
+    "Pick up the cylindrical light blue cup, keep its path away from <the plastic shampoo with orange label>, and set the cylindrical light blue cup on <the flat round wooden coaster>.",
+    "Carry the smooth blue cup for liquids toward <the grainy texture coaster>, keeping clear of <the plastic shampoo with orange label>, and set the smooth blue cup for liquids down.",
+    "Use the arm to move the medium blue cylindrical cup past <the curved shampoo bottle> and rest it on <the light gray streaked wooden coaster>.",
+    "Move the cup with light blue color onto the small coaster with grain texture while avoiding the bottle with smooth surface, then let go of the cup with light blue color.",
+    "Use an arm: grasp the medium blue cylindrical cup, avoid <the white shampoo bottle>, and place the medium blue cylindrical cup on <the coaster made of smooth wood>.",
+    "Move the medium blue cylindrical cup to the coaster with circular shape while avoiding the handheld shampoo container, then place the medium blue cylindrical cup on the coaster with circular shape.",
+    "Use an arm to lift the medium blue cylindrical cup, arc around the medium-sized white plastic shampoo, and place the medium blue cylindrical cup atop the round coaster with light streaks.",
+    "Pick up the medium blue cylindrical cup, avoid the handheld shampoo container along the way, and place the medium blue cylindrical cup on the smooth round palm-sized coaster.",
+    "Lift the cylindrical light blue cup, go around the shampoo bottle with blue cap, and position the cylindrical light blue cup squarely on the coaster with circular shape.",
+    "Take the blue rounded-bottom cup, swing wide of the white and blue shampoo container, then rest the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "Pick up the medium blue cylindrical cup, guide it past the blue top shampoo bottle, and drop the medium blue cylindrical cup on the flat round wooden coaster.",
+    "Lift the cup with smooth plastic surface, guide it past the white and blue shampoo container, and rest the cup with smooth plastic surface on the round coaster.",
+    "Take the plastic cup for drinks to the smooth round palm-sized coaster while skirting the handheld shampoo container, then release the plastic cup for drinks on the smooth round palm-sized coaster.",
+    "Use an arm to bring the cup for holding liquids to the grainy texture coaster, keeping the cup for holding liquids clear of the curved shampoo bottle.",
+    "Use an arm, take the medium blue cylindrical cup past the shampoo bottle with curved sides without nearing it, and rest the medium blue cylindrical cup on the round coaster with light streaks.",
+    "Using an arm, carry the blue rounded-bottom cup past <the bottle with smooth surface> and place the blue rounded-bottom cup squarely on <the wooden coaster>.",
+    "Lift the rounded base blue cup, keep clear of the plastic shampoo bottle, and put the rounded base blue cup down on the flat surface gray wooden coaster.",
+    "Using an arm, grasp the cup with smooth plastic surface, skirt the plastic shampoo with orange label, and place the cup with smooth plastic surface atop the grainy texture coaster.",
+    "Grab the smooth blue cup for liquids, swing it away from <the white and blue shampoo container>, and place the smooth blue cup for liquids on <the light gray streaked wooden coaster>.",
+    "Use an arm to take the cylindrical light blue cup around <the handheld shampoo container> and place the cylindrical light blue cup on <the light gray round grainy coaster>.",
+    "With an arm, lift the blue rounded-bottom cup, route past <the plastic shampoo bottle>, and drop the blue rounded-bottom cup onto <the flat round wooden coaster>.",
+    "Pick up the cup with smooth plastic surface, route it away from the white and blue shampoo container, then set the cup with smooth plastic surface on the light gray streaked wooden coaster.",
+    "Use an arm, take the medium-sized plastic blue cup, avoid <the medium-sized white plastic shampoo> on the way, and set on <the round coaster with light streaks>.",
+    "Use the arm to lift the blue rounded-bottom cup, pass the bottle with smooth surface, and place the blue rounded-bottom cup on the coaster made of smooth wood.",
+    "Use an arm, pick the cup for holding liquids up, pass around the curved shampoo bottle, then place the cup for holding liquids on the flat surface gray wooden coaster.",
+    "Take the plastic cup for drinks, keep its path away from the white and blue shampoo container, and drop the plastic cup for drinks on the round coaster with light streaks.",
+    "With an arm, move the smooth blue drinking cup past the white shampoo bottle and place the smooth blue drinking cup on the flat round wooden coaster.",
+    "Using an arm, pick the smooth blue cup for liquids up, skirt the shampoo bottle with curved sides, and place the smooth blue cup for liquids on the round coaster.",
+    "With an arm, lift the rounded base blue cup, keep it away from the shampoo bottle with curved sides, and drop it onto the light gray streaked wooden coaster.",
+    "Use an arm, keep the cup for holding liquids from the shampoo bottle with curved sides, and lower the cup for holding liquids onto the round coaster.",
+    "Use an arm to move the smooth blue cup for liquids toward the round coaster with light streaks, keeping the smooth blue cup for liquids clear of the handheld shampoo container.",
+    "Take the rounded base blue cup in the arm, route around <the curved shampoo bottle>, and set it on <the flat round wooden coaster>.",
+    "Grab the rounded base blue cup, guide it away from the blue top shampoo bottle, and set the rounded base blue cup neatly on the coaster with circular shape.",
+    "Carry the cup with smooth plastic surface toward the wooden coaster, keeping the cup with smooth plastic surface away from the curved shampoo bottle, then set down.",
+    "Take the rounded base blue cup, route it away from the bottle with hexagonal blue cap, and set the rounded base blue cup onto the flat surface gray wooden coaster.",
+    "Arm-lift the cup for holding liquids, swing around <the white and blue shampoo container>, then place the cup for holding liquids onto <the smooth round palm-sized coaster>.",
+    "Grab the medium blue cylindrical cup, route around the plastic shampoo with orange label, then lower the medium blue cylindrical cup onto the small coaster with grain texture.",
+    "With an arm, lift the medium-sized plastic blue cup, avoid <the medium-sized white plastic shampoo> on the way, and drop the medium-sized plastic blue cup on <the flat surface gray wooden coaster>.",
+    "With an arm, bring the smooth blue cup for liquids over to <the flat surface gray wooden coaster> and keep clear of <the medium-sized white plastic shampoo>.",
+    "Lift the medium-sized plastic blue cup, arc around the white and blue shampoo container, and place the medium-sized plastic blue cup squarely on the round coaster with light streaks.",
+    "Use an arm: pick the smooth blue cup for liquids up, skirt <the plastic shampoo bottle>, then place the smooth blue cup for liquids onto <the coaster with circular shape>.",
+    "Using an arm, move the light blue plastic cup to <the round coaster> while avoiding <the bottle with hexagonal blue cap>, then release the light blue plastic cup.",
+    "Use an arm: take the cup for holding liquids, avoid the curved shampoo bottle during the move, and drop it on the flat surface gray wooden coaster.",
+    "Move the smooth blue drinking cup onto <the round coaster with light streaks> and ensure the path stays away from <the blue top shampoo bottle>.",
+    "Move the cup for holding liquids to the wooden coaster without crossing the bottle with smooth surface, then release the cup for holding liquids.",
+    "With an arm, take the smooth blue cup for liquids, avoid the white and blue shampoo container, and put the smooth blue cup for liquids on the flat round wooden coaster.",
+    "Move the smooth blue drinking cup onto the flat surface gray wooden coaster while avoiding the plastic shampoo with orange label, then let go of the smooth blue drinking cup.",
+    "Secure the medium blue cylindrical cup, move it around the white shampoo bottle, and place the medium blue cylindrical cup squarely on the round coaster with light streaks.",
+    "Slide the medium-sized plastic blue cup toward the wooden coaster, detouring around the white shampoo bottle, then set the medium-sized plastic blue cup down.",
+    "Use an arm to move the cup with light blue color around the handheld shampoo container and rest the cup with light blue color on the flat round wooden coaster.",
+    "With an arm, lift the cup with light blue color, avoid the bottle with smooth surface, and place the cup with light blue color on the small coaster with grain texture.",
+    "Pick up the cylindrical light blue cup, keep clear of <the bottle with hexagonal blue cap>, and drop the cylindrical light blue cup onto <the light gray round grainy coaster>.",
+    "With an arm, pick the smooth blue cup for liquids up, bypass <the bottle with smooth surface>, then place the smooth blue cup for liquids on <the wooden coaster>.",
+    "Pick the smooth blue cup for liquids up, route it away from the medium-sized white plastic shampoo, and drop the smooth blue cup for liquids onto the smooth round palm-sized coaster.",
+    "Take the smooth blue cup for liquids, guide it away from <the bottle with hexagonal blue cap>, and place the smooth blue cup for liquids squarely on <the flat surface gray wooden coaster>.",
+    "Use an arm to grab the plastic cup for drinks, avoid the white and blue shampoo container, and set the plastic cup for drinks down on the wooden coaster.",
+    "Lift the plastic cup for drinks, guide it around <the white shampoo bottle>, then put the plastic cup for drinks onto <the light gray streaked wooden coaster>.",
+    "Use an arm to lift the cup for holding liquids, keep distance from <the shampoo bottle with curved sides>, and set the cup for holding liquids on <the wooden coaster>.",
+    "Use the arm to carry the cup for holding liquids around the bottle with hexagonal blue cap, then rest the cup for holding liquids on the light gray streaked wooden coaster.",
+    "Lift the rounded base blue cup, pass by the shampoo bottle with blue cap without contact, then place the rounded base blue cup on the flat round wooden coaster.",
+    "With an arm, lift the medium-sized plastic blue cup, guide it past the handheld shampoo container, and put the medium-sized plastic blue cup on the light gray streaked wooden coaster.",
+    "Use an arm: grab the cup with light blue color, avoid the curved shampoo bottle on the way, then set the cup with light blue color on the flat round wooden coaster.",
+    "Carry the plastic cup for drinks toward <the light gray round grainy coaster>, keeping the path clear of <the blue top shampoo bottle>, then set down.",
+    "Slide the cylindrical light blue cup over to <the coaster with circular shape> without passing near <the handheld shampoo container>.",
+    "With an arm, lift the plastic cup for drinks, avoid the white shampoo bottle, and set the plastic cup for drinks onto the flat round wooden coaster.",
+    "Take the cup with light blue color, keep its path away from the bottle with hexagonal blue cap, and place the cup with light blue color on the round coaster with light streaks.",
+    "Move the cup with light blue color to <the flat round wooden coaster> while keeping the cup with light blue color away from <the curved shampoo bottle>, then release.",
+    "Carry the blue rounded-bottom cup toward <the flat round wooden coaster>, skirting <the plastic shampoo bottle>, and set the blue rounded-bottom cup down.",
+    "Using an arm, pick the smooth blue drinking cup up, skirt the white and blue shampoo container, and place the smooth blue drinking cup on the coaster with circular shape.",
+    "Take the light blue plastic cup, arc around <the white shampoo bottle>, and place the light blue plastic cup neatly on <the coaster with circular shape>.",
+    "Move the smooth blue drinking cup to <the coaster with circular shape> while keeping its path away from <the handheld shampoo container>.",
+    "Guide the light blue plastic cup with the arm around <the blue top shampoo bottle> and onto <the flat round wooden coaster>.",
+    "Lift the rounded base blue cup, steer away from <the plastic shampoo with orange label>, then place the rounded base blue cup on <the smooth round palm-sized coaster>.",
+    "Lift the light blue plastic cup, route it away from the shampoo bottle with curved sides, then put the light blue plastic cup squarely on the round coaster with light streaks.",
+    "Use an arm to move the smooth blue cup for liquids to the smooth round palm-sized coaster, keeping the smooth blue cup for liquids from bumping the bottle with hexagonal blue cap.",
+    "Move the medium-sized plastic blue cup toward the flat round wooden coaster without passing near the bottle with smooth surface, then set it down.",
+    "Using an arm, carry the cup with light blue color around the white shampoo bottle and place the cup with light blue color onto the flat round wooden coaster.",
+    "Secure the plastic cup for drinks, keep its path away from the white shampoo bottle, and set the plastic cup for drinks on the coaster made of smooth wood."
+  ],
+  "unseen": [
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the blue cup, avoid <the white shampoo with orange design>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer clear of the white shampoo with orange design, and place it on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, avoid the shampoo container in white and blue, and place the handheld round blue cup on the light gray coaster.",
+    "Grab the blue cup, steer it around the shampoo container in white and blue, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the white shampoo with orange design, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the shampoo container in white and blue>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the blue-capped shampoo bottle, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the white shampoo with orange design>, then place the handheld round blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white shampoo with orange design>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo container in white and blue, then set the handheld round blue cup down on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, keep it clear of the shampoo container in white and blue, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the white shampoo with orange design>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white shampoo with orange design, and place it on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the shampoo container in white and blue>, and set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, keep it clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container in white and blue, and place the blue cup on the light gray coaster.",
+    "Grab the handheld round blue cup, steer it around the shampoo container in white and blue, then set the handheld round blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the white shampoo with orange design, and set it on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the white shampoo with orange design>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Pick up the handheld round blue cup, keep clear of the blue-capped shampoo bottle, then place the handheld round blue cup onto the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, route it around <the blue-capped shampoo bottle>, then place the handheld round blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container in white and blue, and set the handheld round blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the blue-capped shampoo bottle>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the blue cup, carry it around the white shampoo with orange design, then set the blue cup down on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the shampoo container in white and blue>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container in white and blue, and place it on the small drink-protecting wooden coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the white shampoo with orange design>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the blue-capped shampoo bottle, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the blue-capped shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the white shampoo with orange design, then set the small smooth cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the blue cup, steer around the blue-capped shampoo bottle, and set it on the disc-shaped light gray coaster.",
+    "Grab the handheld round blue cup, guide it around <the blue-capped shampoo bottle>, and place it on <the light gray coaster>.",
+    "Pick up the blue cup, keep it clear of <the white shampoo with orange design>, then set the blue cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the shampoo container in white and blue, then place the blue cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container in white and blue>, then place the small smooth cup onto <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the shampoo container in white and blue>, and place the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Grab the small smooth cup, carry it around the blue-capped shampoo bottle, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the small smooth cup, avoid <the blue-capped shampoo bottle>, then set the small smooth cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the shampoo container in white and blue, and place it on the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the blue-capped shampoo bottle>, and set the blue cup on <the light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the shampoo container in white and blue, and set the blue cup on the small drink-protecting wooden coaster.",
+    "Grab the blue cup, keep it clear of the white shampoo with orange design, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the blue-capped shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, steer it around the blue-capped shampoo bottle, then set the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the blue cup, steer around the shampoo container in white and blue, and set it on the small drink-protecting wooden coaster.",
+    "Grab the handheld round blue cup, guide it around <the white shampoo with orange design>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep it clear of <the shampoo container in white and blue>, then set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo container in white and blue, then place the small smooth cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the blue-capped shampoo bottle>, then place the blue cup onto <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the white shampoo with orange design, and set the handheld round blue cup on the small drink-protecting wooden coaster.",
+    "Use an arm to grab the blue cup, steer around <the blue-capped shampoo bottle>, and place the blue cup on <the light gray coaster>.",
+    "Grab the blue cup, carry it around the white shampoo with orange design, then set the blue cup down on the disc-shaped light gray coaster.",
+    "Grab the small smooth cup, keep it clear of the blue-capped shampoo bottle, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "With an arm, lift the blue cup, avoid <the blue-capped shampoo bottle>, then set the blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white shampoo with orange design, and place it on the light gray coaster.",
+    "Using an arm, pick up the handheld round blue cup, steer clear of <the blue-capped shampoo bottle>, and set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the blue cup, steer around the blue-capped shampoo bottle, and set the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the blue-capped shampoo bottle, then place the blue cup onto the light gray coaster.",
+    "Use an arm to pick up the blue cup, avoid the shampoo container in white and blue, and place the blue cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the white shampoo with orange design, then set the blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the blue-capped shampoo bottle, and set it on the light gray coaster.",
+    "Grab the small smooth cup, guide it around <the white shampoo with orange design>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the handheld round blue cup, keep it clear of <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the disc-shaped light gray coaster>.",
+    "Pick up the small smooth cup, keep clear of the shampoo container in white and blue, then place the small smooth cup onto the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, route it around <the shampoo container in white and blue>, then place the small smooth cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer around the shampoo container in white and blue, and set the handheld round blue cup on the light gray coaster.",
+    "Use an arm to grab the blue cup, steer around <the white shampoo with orange design>, and place the blue cup on <the small drink-protecting wooden coaster>.",
+    "Grab the handheld round blue cup, carry it around the shampoo container in white and blue, then set the handheld round blue cup down on the light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the disc-shaped light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the light gray coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the white shampoo with orange design, and place it on the disc-shaped light gray coaster.",
+    "Using an arm, pick up the small smooth cup, steer clear of <the shampoo container in white and blue>, and set the small smooth cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the blue-capped shampoo bottle, and set the small smooth cup on the light gray coaster.",
+    "Grab the handheld round blue cup, keep it clear of the white shampoo with orange design, then place the handheld round blue cup onto the small drink-protecting wooden coaster.",
+    "Use an arm to pick up the small smooth cup, avoid the blue-capped shampoo bottle, and place the small smooth cup on the disc-shaped light gray coaster.",
+    "Grab the blue cup, steer it around the white shampoo with orange design, then set the blue cup onto the disc-shaped light gray coaster.",
+    "Use an arm to pick up the handheld round blue cup, steer around the shampoo container in white and blue, and set it on the small drink-protecting wooden coaster.",
+    "Grab the small smooth cup, guide it around <the shampoo container in white and blue>, and place it on <the small drink-protecting wooden coaster>.",
+    "Pick up the blue cup, keep it clear of <the white shampoo with orange design>, then set the blue cup on <the light gray coaster>.",
+    "Pick up the blue cup, keep clear of the blue-capped shampoo bottle, then place the blue cup onto the disc-shaped light gray coaster.",
+    "Grab the blue cup, route it around <the blue-capped shampoo bottle>, then place the blue cup onto <the disc-shaped light gray coaster>.",
+    "Use an arm to grab the small smooth cup, steer around the white shampoo with orange design, and set the small smooth cup on the light gray coaster.",
+    "Use an arm to grab the small smooth cup, steer around <the white shampoo with orange design>, and place the small smooth cup on <the light gray coaster>.",
+    "Grab the small smooth cup, carry it around the shampoo container in white and blue, then set the small smooth cup down on the disc-shaped light gray coaster.",
+    "Grab the blue cup, keep it clear of the shampoo container in white and blue, then place the blue cup onto the light gray coaster.",
+    "With an arm, lift the handheld round blue cup, avoid <the blue-capped shampoo bottle>, then set the handheld round blue cup on <the small drink-protecting wooden coaster>.",
+    "Use an arm to grab the handheld round blue cup, steer clear of the blue-capped shampoo bottle, and place it on the light gray coaster.",
+    "Using an arm, pick up the blue cup, steer clear of <the blue-capped shampoo bottle>, and set the blue cup on <the light gray coaster>."
+  ]
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/scene_info.json b/place_empty_cup_wp2/place_empty_cup_wp2/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..03bbe8932117d54ffb3f71b384c59894eea2593b
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/scene_info.json
@@ -0,0 +1,1202 @@
+{
+    "episode_0": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base1"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base5"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base1"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base6"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base7"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base2"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base4"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base1"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base2"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base1"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base7"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base4"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base3"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base1"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base4"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base1"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base5"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base6"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base1"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base6"
+        }
+    },
+    "episode_20": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base4"
+        }
+    },
+    "episode_21": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base6"
+        }
+    },
+    "episode_22": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base3"
+        }
+    },
+    "episode_23": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base4"
+        }
+    },
+    "episode_24": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base2"
+        }
+    },
+    "episode_25": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base1"
+        }
+    },
+    "episode_26": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base1"
+        }
+    },
+    "episode_27": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base4"
+        }
+    },
+    "episode_28": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base1"
+        }
+    },
+    "episode_29": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base3"
+        }
+    },
+    "episode_30": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base5"
+        }
+    },
+    "episode_31": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base2"
+        }
+    },
+    "episode_32": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base4"
+        }
+    },
+    "episode_33": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base4"
+        }
+    },
+    "episode_34": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base3"
+        }
+    },
+    "episode_35": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base4"
+        }
+    },
+    "episode_36": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base2"
+        }
+    },
+    "episode_37": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base4"
+        }
+    },
+    "episode_38": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base4"
+        }
+    },
+    "episode_39": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base2"
+        }
+    },
+    "episode_40": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base4"
+        }
+    },
+    "episode_41": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base5"
+        }
+    },
+    "episode_42": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base5"
+        }
+    },
+    "episode_43": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base1"
+        }
+    },
+    "episode_44": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base7"
+        }
+    },
+    "episode_45": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base3"
+        }
+    },
+    "episode_46": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base3"
+        }
+    },
+    "episode_47": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base1"
+        }
+    },
+    "episode_48": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base6"
+        }
+    },
+    "episode_49": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base6"
+        }
+    },
+    "episode_50": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base2"
+        }
+    },
+    "episode_51": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base3"
+        }
+    },
+    "episode_52": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base3"
+        }
+    },
+    "episode_53": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base4"
+        }
+    },
+    "episode_54": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base3"
+        }
+    },
+    "episode_55": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base6"
+        }
+    },
+    "episode_56": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base6"
+        }
+    },
+    "episode_57": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base2"
+        }
+    },
+    "episode_58": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base2"
+        }
+    },
+    "episode_59": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base1"
+        }
+    },
+    "episode_60": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base2"
+        }
+    },
+    "episode_61": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base6"
+        }
+    },
+    "episode_62": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base1"
+        }
+    },
+    "episode_63": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base3"
+        }
+    },
+    "episode_64": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base4"
+        }
+    },
+    "episode_65": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base3"
+        }
+    },
+    "episode_66": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base5"
+        }
+    },
+    "episode_67": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base5"
+        }
+    },
+    "episode_68": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base6"
+        }
+    },
+    "episode_69": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base5"
+        }
+    },
+    "episode_70": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base1"
+        }
+    },
+    "episode_71": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base6"
+        }
+    },
+    "episode_72": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base3"
+        }
+    },
+    "episode_73": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base5"
+        }
+    },
+    "episode_74": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base5"
+        }
+    },
+    "episode_75": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base6"
+        }
+    },
+    "episode_76": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base6"
+        }
+    },
+    "episode_77": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base7"
+        }
+    },
+    "episode_78": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base5"
+        }
+    },
+    "episode_79": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base2"
+        }
+    },
+    "episode_80": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base6"
+        }
+    },
+    "episode_81": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base3"
+        }
+    },
+    "episode_82": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base2"
+        }
+    },
+    "episode_83": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base6"
+        }
+    },
+    "episode_84": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base4"
+        }
+    },
+    "episode_85": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base2"
+        }
+    },
+    "episode_86": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base7"
+        }
+    },
+    "episode_87": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base2"
+        }
+    },
+    "episode_88": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base2"
+        }
+    },
+    "episode_89": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base1"
+        }
+    },
+    "episode_90": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base1"
+        }
+    },
+    "episode_91": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base1"
+        }
+    },
+    "episode_92": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base7"
+        }
+    },
+    "episode_93": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base2"
+        }
+    },
+    "episode_94": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base6"
+        }
+    },
+    "episode_95": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base2"
+        }
+    },
+    "episode_96": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base6"
+        }
+    },
+    "episode_97": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base7"
+        }
+    },
+    "episode_98": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base6"
+        }
+    },
+    "episode_99": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "021_cup/base0",
+            "{B}": "019_coaster/base0",
+            "{C}": "049_shampoo/base1"
+        }
+    }
+}
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/seed.txt b/place_empty_cup_wp2/place_empty_cup_wp2/seed.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7b56adbe0120d574ef6d7cd3d7c649a33f12388b
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/seed.txt
@@ -0,0 +1 @@
+0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 91 92 93 94 96 97 98 99 100 101 102 103 104 
\ No newline at end of file
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode0.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode0.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea956f545ee897a4eae209f245cfba87ac3a1d6f
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode0.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06d55475c32e8a81d34e3c0eec40b45ef41e8ad7073d523a2da58a8f240ed260
+size 185298
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode1.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode1.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d6549380ca4866151af25e97aa36fa44584ed94
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode1.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41a44c4ac575efa60e1a10c36b60c0387e9c102499bc8028fe70e14c9d767505
+size 130644
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode10.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode10.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aaf61e86039388a685ce9273b31f25f2704950a2
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode10.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60d9a8b1635f30b282ed7c88969e1e1d11c9c33bfcf94573f810aa4e8328c7db
+size 135063
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode11.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode11.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..50a76d51f666c5f9a931c0012f14153b31c071dc
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode11.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:802c58f4615a849bd4f004e861b00321d10c02d5ea650e0c74a848fea9e314dc
+size 124548
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode12.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode12.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a673acefdb3f952953fa5f7bbdb5d52ec9de9afd
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode12.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b9b61d5bd384f5f0524f7791bfba8f19eda45f8995f304d9985e88aedc24b5c
+size 126914
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode13.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode13.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..95909ed8dcf3526d9042e87b53fc282bdda36df0
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode13.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:552dc5f88f7976a79bef4fc922fcac1d243a29003ba4d9c27c58802ba77cd76f
+size 162189
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode14.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode14.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a3b326f05e97c916f45ad3bf1359db043eb5f8d7
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode14.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b18f1f1765a0067fe914951084e9aad8730d219b44ee96857d4724931ddb0ab2
+size 183048
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode15.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode15.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dde5ccd91490a01fef338ef3240fffe24798fae9
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode15.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09913610350a72e32b72bf287e2adfc76f965aef6e4de96427e9b26e86740e14
+size 179815
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode16.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode16.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8953b020fa7afc776b311945b85a4843d480760a
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode16.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d8240c9c8ab25440839b972c50302a16425c5d6b2f04d90fb3a5d3cb36dc835
+size 113182
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode17.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode17.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc17e054b95ca8fd063f52e08a06892a5c70f44d
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode17.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:229c1f2bf5e47a42c78bdc603308a522149cc44f0780b51f67ed2406d6260d5e
+size 144342
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode18.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode18.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c41d1fba59872e2c8a869da82b7842a0f126d035
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode18.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13384e858ec6442c515c886ee3ce23db61bb319393007c3526544aad04f0bea2
+size 168768
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode19.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode19.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4add74956738f46d4d6b35d1dfe2d466e0898992
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode19.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:909111d9a8dd036a06d18f249fff20c59e5be65e8f671979af722772d7a08d13
+size 132283
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode2.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode2.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e9a4770c2f2f0fb0812edfb7111c87f4d122b242
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode2.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f753575b50ade308db4fe2d01c70559c2679eb2cf3ff0ee01a36fd16240474f
+size 155274
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode20.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode20.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..969ba463c93816a19048f2297c2a559e17ea65fb
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode20.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:279095fc8de2a68f5162e098d048440c2cec03ed0fe73445211d3a33a475572a
+size 148254
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode21.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode21.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b1dffa9c94e35914ee2fddbb7a7781df4307eaf
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode21.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4c49e3118ab7fbfeace03932d7ed1f93d9786a7261fbbe5d53a3920391e5796
+size 131520
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode22.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode22.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0c6eb5bf02370a9ef7da68761759cec512f13f3a
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode22.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7500b2dea678c271de7517b62aebdbc76b178020618eee1d7f6a15241a228c27
+size 121853
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode23.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode23.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..33255bb47dce3b016ed4736288a3ff9d02de5af7
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode23.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91f734b935a343e8ddac00d9a55de29aadadc628f47608b0eb4a25ab6802f49f
+size 125436
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode24.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode24.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb790d2f347247a1aeefe6ec712b1bcd6683c7ad
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode24.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b6306f7febb85e9674f12bb2d345da5a24789f95efcc833a3d40406f9dd7625
+size 116955
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode25.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode25.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..25fe4426fa9c1c1d904a20e694c671600f0a38c6
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode25.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c5f573f7b06bdd73bd1334799887111e14c33018952bd2813f93f5867ea4fd3
+size 172118
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode26.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode26.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f542bfaaf69ffd2477a1c37afe44ed9c968e0953
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode26.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d8b085251ba6b9b352f7e31332d102540d17a8431fb572a2b244723870683b1
+size 151266
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode27.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode27.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..88572de3c3719fc4ef889b001bf230ad4ce8489d
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode27.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a84d22a51423aec5ce1219fdff6a71f3e8f07964618ac861bbddd26b392828b9
+size 135799
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode28.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode28.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..703f594c3ea96866568bde86847665be94e44825
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode28.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1672e4a96ca4fd58cb08705ca274ad5661af442df186cb4bcc8e00b468594dae
+size 135973
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode29.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode29.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b60ced83c1431478cf16f02a6b9c511483d66ac4
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode29.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61075bdc435989d7468f46073c68558a1ea9a8ddcdb75263b5fd994e8de33bf0
+size 150523
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode3.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode3.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..06515ef3852c23404cdecd08e112bcedd7cb8045
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode3.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd82525b271e76499cc75b58b1a5c06e3ee5fd8916781a2105b143c79988e229
+size 166462
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode30.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode30.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..472261bd4ffd7b4af058cffc0448459a544b279f
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode30.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21c07de5373fd545f60f4bf7df0b7472256d03486d4266297d77565d7f6f6d50
+size 151289
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode31.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode31.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..201379fc5a3db91dac360106f25a2bf254796373
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode31.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b23cf2732ae89d890275f0c690899e43ec5332bae4b98049d9fe3baf4c302238
+size 128813
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode32.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode32.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a09405789b52cb8af2568fa1c5b559c9f19f173f
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode32.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:538e5f561f9a5b1a12d75ced03d25a9a26c7b958bb219e99f4f1da93dce6f08c
+size 177003
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode33.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode33.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..16714f975c5ae0a66a50228854bcca67ccfc88f9
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode33.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32fa6ff2c0ec7075b2047c4349e89371eddafd3a26652757a88aaacec72f73f2
+size 154788
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode34.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode34.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a59f78db64de73a7141d7f41e65fd94352ffa35d
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode34.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83449a513bc2d3729399f8845d6c9d8b048811e3365f62303624c6949504f12c
+size 131804
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode35.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode35.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c893c5286cb327b629cad0993e28d21be9660073
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode35.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c3de97269d07c0429a7bc35b1f609b2919b33e98eb892ebb9b624a09c4c0a9f
+size 112198
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode36.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode36.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..259a360ffdfeeb43108ea9fab29ed834648a9a4e
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode36.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2de58d45ac2fb60704bf7361958646d85f911ff58bb798b716778a5b6ebc4c56
+size 161964
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode37.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode37.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ffd87eba5cfcdbb996e8d59ae1f4acaeb2249409
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode37.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3277d5470d7a2e0440c9ad9f9350ae6b4415d09c217957ee31c6b00afb086e4
+size 136562
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode38.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode38.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bba14c9803267e8c2eaba40e473e4ec3824c928c
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode38.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc24f12a022704ccedf96bd61cdfc7875e9317fb247e67f0339b50be604a9f4f
+size 173716
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode39.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode39.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d4edf9459269ef799b9a8c850e6e63746f964270
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode39.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eda42230df3b69e0e9c584f452427b8909c283f5c9dc02db3ec92ecfbc769a17
+size 110113
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode4.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode4.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee35ce6f23afd10fa7eee7dbefe50cf3f4baf9c5
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode4.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4464ff75f0a68f1a25ff8be6231e7f4eade1e7f1d42fbd9b7ec20e346936f5a3
+size 146669
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode40.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode40.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e6342d587f52f8c139ddd400bf61cd07585365c4
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode40.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12e205fe3ec14609427caae9d946f15778d2030deefebc5bbe37a9a796752a00
+size 155826
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode41.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode41.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6ea36ef523adcf3a016a136f7856e265a5a589a5
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode41.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0b22c95351b341ddcf604fd89cbb901f6abd126c368b9239e894c9f3794d52a
+size 139745
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode42.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode42.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af077f644dc77f74a0d1edd6c2995dc331707416
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode42.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31649a51408061a91112acce3fa502f637705c9daeed4ee4a2edfcc136e56cef
+size 147382
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode43.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode43.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..53132196b07c009a3530a3f717d3276a8cda4de2
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode43.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe55f333d90be0995f2448d4928b141327ebfd43156da361391c4cf829979786
+size 134497
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode44.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode44.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3127587c365e13eed955a88c426accaf79f28a0b
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode44.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f765a8d6ed847d6c34cf5d5e63f67fd5d924c0ce20dfbec009656ade9a61ee5
+size 176101
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode45.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode45.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7458c63d2fa8fadbf9e2a32346b3f2cf0ff6cf80
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode45.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd6eebd6f46b84045db975a0aa9e4dbc74cba1ad22e5f481bdc31188406020ab
+size 160213
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode46.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode46.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cdfc07b79e5472834ff7fc13ed53cdfbf2432d33
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode46.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f582b76125917024f5b5f7929700976f22019c89efef75841dc95141614637f
+size 161363
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode47.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode47.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0287ee1554f8da9e46c365e56e39579000012194
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode47.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf6942c18c5101009dcfe9ce95b632264f841dc0abaca036e519fd4909395560
+size 135547
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode48.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode48.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..947efa696a211a5af28150028da40a049010169d
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode48.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a05b8a6e926c52115aba48cc2f8bea482924acb086ebf8f8abb0bceef73aae4e
+size 149762
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode49.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode49.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92423028bb1897c6586788b684d083f067dc6d28
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode49.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aa3a904533f2a7565772adf9712bf09d316066c0db7132b97592b310d7a2b45
+size 197539
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode5.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode5.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0d13633b95078c512445392e99eeb546172a3390
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode5.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51eca0d6a82575c540a7c66b02eae72b98cf197c39257e5649acc39d98f67eb9
+size 160628
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode50.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode50.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f0e7bbf546bcdea86466605c5e0b958ac2b9ec1
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode50.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dba3a42e8040f50ac2bc7ba6150a047a3b5b0a8f2eb27c4175914f2b69e35cdf
+size 117317
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode51.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode51.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..281e6c6ba855ad2ce13949c27b26c86a4154a6b8
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode51.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06847178ea8201a8316b87d5ec5587bad548a5fe7e9b40d504bf8341d3487fba
+size 143032
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode52.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode52.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..df13744d9d13a67113cdafdc5540aef15462ee70
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode52.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d191415504bbc3bb8b205f63416dabcef69475d9f1eaf4ac79770f8a28ecb089
+size 142638
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode53.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode53.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68c2ab0a6d4781562fb1c768ddcc536950471d65
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode53.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed2e0d307b575cc918906fdff5d100fb8b3f5a1f6d7d81f929b6c3eec7ae9aea
+size 123372
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode54.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode54.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..811499f69607a42c081ed59c5166eb6c06284d53
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode54.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdb51fa8c56ccb14e4a0bf0a8b4a3bea546ec9b118ef69262a55a9419d524fc2
+size 187679
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode55.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode55.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..565606d90130dd76d40bf98ffa68236cf3efdc2b
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode55.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bafdbd2f633660ac86ff80902dee733aa36907684653d5e14f70118652ec3de2
+size 180092
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode56.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode56.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4cc5c30e3b36feb2340aac3486857f32fc0f7e6a
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode56.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddf31f74e5f431900a37543088e7c71040dedf2deca16c094874c31c23e77443
+size 146027
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode57.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode57.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..88794647e3166da128dca430bb6d3b4f4d9d76ec
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode57.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d490189df72c63d779c9ae30cba75fe295b1518fb9d30183e104c5a489e782c
+size 166927
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode58.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode58.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e1129a9f60611c61557448cdd2a5308154eff881
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode58.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c29d1a7d53a114ef2fa368a71bbe8da72234d74d8363bee2bc0e888749c67079
+size 131713
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode59.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode59.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d79adf7e915938289507a70618101d2483756bb
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode59.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:430ed62dabb4ce7a775ac479e86183433c1b197b45bc03156434c276948df74f
+size 175119
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode6.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode6.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dc5f42cd80301582ead926ef5f4157e5545cc412
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode6.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:694fb38f22a6e90b68aff7ee5a694c5965768a0bc47ec99eb95f6fb90b1b9e22
+size 132337
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode60.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode60.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c9ac4d14b7b758652b6094452ebc4aa89c2259b0
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode60.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9f0848191e8d58c08ab10e54a9c4d065e3c62f7b71f9b7e18a019a470045150
+size 103066
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode61.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode61.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f4a5259ebb091d94992aa5cde743b9d51dd41041
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode61.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de1e98b07ef580382340f2966b5d04a0904b4a240c427a0e22600cd8d06ec982
+size 178375
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode62.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode62.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a963ad1acf569053389d48c0edb1deb376c5c0ec
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode62.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20d5fd11a3d17a7538cad9a12920fb4b0cb8dffdeee75bca7dd81ef4578cfde6
+size 175280
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode63.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode63.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9e52668374a13e321552066284577eae8b49a40a
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode63.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:369e01e992cbc701b51f87d1aadd18ecb7c4cf7cbb2434dae3532f27cc39aa22
+size 164614
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode64.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode64.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ef1de3b8c334d141779b3ba64d37a6fe42823049
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode64.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:411e929f1e1a30a46d8582dfc0fba7bc41e2a4a2239e186f3b6ed7795c9fd8ce
+size 159231
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode65.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode65.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d1786524a81af7ed2215a4e2e13b649db4858842
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode65.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4dfd96024ce18734a366fb00bb163eb2605beeaeb37edac3aea7aede66cb606
+size 149742
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode66.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode66.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b960421f3d66766c6d0cd29db1593edde1cba42
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode66.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e650215b473459767c44536d84cb17cc1742e48280fe9ba24fe358a77682a9b6
+size 134235
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode67.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode67.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7cfaa6951a87bf1b2be5497bee48e4a81962d510
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode67.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5c2139f2a3c16762a37026bb207da58cd9d4eb7650a31affbc03fcf1100141e
+size 122774
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode68.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode68.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a5c85c7a81b7b676aa07da6592c993f7cd217da0
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode68.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2050b074445bf78a4961a6abf45f6250a3b286c2d61f8c133d9fe6efd25458b
+size 181401
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode69.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode69.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..69b37241733c347a583ab9a57297af2d9af0b203
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode69.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b324979809aba63dc585cec4766cbd242a49e75059dba14b0f50c2d4d999915
+size 149031
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode7.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode7.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e2418f4a8401954870044d9087677608cd2d6a31
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode7.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ff2fa4471d2ecef97e3a68cae8a9a8ca5010a54a7f365e924c45d0ac26aae92
+size 138402
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode70.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode70.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..134dff76560c0eda7417cb1d1bd50ff600e47317
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode70.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ac6adc664d42dcfa90ae5656a28174d8bbcf72aa3a28d743c59661bbd64cf96
+size 157453
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode71.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode71.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e922c27f7b3a5fa971a64b70edb30b9895985574
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode71.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ec67677bd209253bf0baa005c29bc6540d1a42710474ef84fbdecc83dce0600
+size 142984
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode72.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode72.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..309241c2693f0fd7b9d84768f800dbd249da4292
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode72.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:067d037577ed388c55a1fb5a319fffa97c529bc8751e38f421d2ff1cf33d4c79
+size 165257
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode73.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode73.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1bcba1889a668a831634be79caf411147ae54761
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode73.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6f14485e55a91af8315ae21d77e85ee0b30cbf3959c2df221c01f4f164e237c
+size 174776
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode74.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode74.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e5a758c8dff66d93f7da5cced9a439b56e79128
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode74.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8237d04e5616b877b89bb59faf5dd85ac966a43dcefd904382ea73d30d5dfe2d
+size 144738
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode75.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode75.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b67369e5ff1f31b64edcb9d616f2a27a0290a41
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode75.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aabd2b2d36da9eb1eea098c3a80072a684aa423e7cdd928349a56de445a268d9
+size 126261
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode76.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode76.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7cd742e271a7ae9125ea23b692d197c8a7dffe90
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode76.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d13903484287c09639c05d830c7e052254c006e570578cdfe2d25e7a942b03d8
+size 180080
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode77.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode77.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca874e434e1d20dc6883d2fb4272fb74eee0447a
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode77.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:273795784031f0137da00f74395977f16d7b1190136c4b925a9f40c9079870f0
+size 145841
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode78.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode78.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a06146bfbd94fc79ebf3eabf63756d28058a2ff
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode78.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a7ddbc845114e695d72c9396040d336026d1444c489d9649fe879e4bd4e3d8f
+size 172798
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode79.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode79.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..edee17e112423665c2de696b7080587159ef020e
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode79.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa8d532d279cf0eace40f972e59ec963228950494957aff266bdebcb053bb168
+size 143778
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode8.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode8.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..94e816ce47b745c1dc5724a2c5ff398a09c0419a
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode8.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa7970d9d35c28cd4224d73dcad895904d6005f1d53c145def0d1d5d54b47358
+size 140144
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode80.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode80.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a6153b1bf549b9dd67a27578840d0835e0efd85
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode80.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97ec0e113bdfb617cc246022eefcb0f3b328a7c8f1994040d48aa4f5abd33cc6
+size 183599
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode81.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode81.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0c49ce0d9cb8db034c7016367c2efa46b231ad9
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode81.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b1031e1d760d6c9f84e43035274a4c14303d96c72da1d2563e2bc62c17c1d21
+size 188491
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode82.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode82.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec9299448b2f489bf4ab04fd7f041f756a55c26c
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode82.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0600bd3ec8157d6c1addefa221d99a12ccee9a87ab9370da6b3985bcabed2c9b
+size 141410
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode83.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode83.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a694212e2e4c9c1e7e5c96984baa05a65e168f6e
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode83.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca4539895b7ef65b4c48c1f79de339a201aeec1e7dd25b5f07149d06fab4c7af
+size 188666
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode84.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode84.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6f0784c1b00bd43f11767d0fc990c77d3b1f9ff3
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode84.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41528a599cbb6cdd9d984c90c7a3c850d95cb65d98cec425e4ea63f11d96f658
+size 163306
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode85.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode85.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a43eba456c99575d1a1a8ff0ec401142ef5616b9
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode85.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4aa137810569a39ccf3234e54365084e8d74826da7f7e138b85347c0d70363a
+size 157554
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode86.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode86.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..44d7732eeb57d85e9b2fb353df96952189ca1fc6
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode86.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9827e075e43f38b380c9a83a89dab0b5bd4d1baa37669269dde18cbc25bc43bc
+size 162110
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode87.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode87.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3771e94fd091251d493fa1430d40cf5823b20482
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode87.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e5c76c0ee96d6046549b19c125b67e8d4efd176854b152b8dc1781af7adf0c2
+size 142884
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode88.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode88.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a26215db5fda744daf3bee282cd7677115129c73
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode88.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:316ca84634c94073e98f4a678eb32e69c0af773f4f44f5ae4f9aa5bca68144d3
+size 150469
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode89.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode89.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da72ab2ba42eb11eb24f6dfed57c59a14b7f6d36
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode89.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c11a5311379a9c321845d006a5862c4cf02612dc736e7e2c66980afef686edd3
+size 170766
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode9.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode9.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be122a78db49084b4b31c601440ea1eb57a600ee
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode9.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abdb15abf92a25606c8ae2b8df5f8119f4bb5737e5ffa1c68c3ce2dc34881fcf
+size 126530
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode90.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode90.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0d31ad283871a7964a71c7782c67415943159579
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode90.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1c661b9f16ba8d219d51667165ded7441b1f42b355f4e07aeecc7f89fd6b716
+size 200570
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode91.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode91.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..12f4e7009012c95555046f183d69c01591d4d5ed
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode91.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47106854eb20402269777c854f4698edd4591cb5a31caae3d0f9c6950cec8461
+size 145684
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode92.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode92.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d0ba782d14257b0e4e90bd2963694ddcad488b99
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode92.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af4560bb521064dc4ad8451a93e393b4da4e9e2d27b39741b9cba7f095c500e7
+size 145784
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode93.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode93.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5bf59e6e62c0ecc65d53dca949f32fe79de279ce
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode93.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:298585c0e383a797e58f68242c2bf7ff0134ece7dd3d47a15422f01365cb25a5
+size 180959
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode94.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode94.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e63b612239bbbf94ce488e44f19919bd3badcbce
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode94.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59813ab8970e0a01fd8a5cab8f7e4f1a3f660483e52426d1972482ad96bc2ee8
+size 207346
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode95.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode95.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b14192da315851e7df3526a600f58e9310e2709
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode95.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dc459d578767abaff0e3b1c862e2cf43387e930bbc9558dad014ffd97a34ca2
+size 150411
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode96.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode96.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..83acc867aa350fb8a20f38b5679efd2ab99f9406
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode96.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10716ded35818d6c7190312b0df5f12c78e4fa3120431523c054e664f4acc19f
+size 146306
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode97.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode97.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2181ee65482c4ff6e11c7a98969e24276401979e
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode97.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:569144bd2d82a103ce3a45e1c5f9576c2d08c24a8abd5286f9c1186336600980
+size 164183
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode98.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode98.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d8d24a95d118e877e70389ddfd49aeaebf4d5c33
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode98.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:353a8db34478f639f80fd2fedd3ce7c4a087c949a6c30c022a9e3f0f0e77ca1e
+size 166628
diff --git a/place_empty_cup_wp2/place_empty_cup_wp2/video/episode99.mp4 b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode99.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6fc50df903d0d7e7f8d4da1d37ebd813791eb8da
--- /dev/null
+++ b/place_empty_cup_wp2/place_empty_cup_wp2/video/episode99.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ae6481fe28863e894d8ce78d0fef48b0593a4bf35956e366280f29457d0a09c
+size 151917