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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/config.yml b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..7f56914cd8ccc41af8a325f1d2253a87c4f6ec60
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/config.yml
@@ -0,0 +1,54 @@
+urdf_path: "./X5A.urdf"
+# srdf_path: "./X5A.srdf"
+joint_stiffness: 1000
+joint_damping: 200
+gripper_stiffnes: 1000
+gripper_damping: 200
+move_group: ["link6","link6"]
+ee_joints: ["joint6","joint6"]
+arm_joints_name: [['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6'],
+                  ['joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6']]
+gripper_name: 
+  - base: "joint7"
+    mimic: [["joint8", 1., 0.]]
+  - base: "joint7"
+    mimic: [["joint8", 1., 0.]]
+gripper_bias: 0.12
+gripper_scale: [-0.01, 0.045]
+homestate: [[0,0,0,0,0,0],[0,0,0,0,0,0]]
+delta_matrix: [[1,0,0],[0,1,0],[0,0,1]]
+# global_trans_matrix: [[0,0,1],[0,1,0],[-1,0,0]] # for mplib
+global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]] # for curobo
+robot_pose: [[0, -0.35, 0.784, 0.707, 0, 0, 0.707]]  # modify
+# planner: "mplib_RRT"
+planner: "curobo"
+dual_arm: False
+grasp_perfect_direction: ['front_right', 'front_left']
+static_camera_list: 
+- name: head_camera
+  position:
+  - -0.032
+  - -0.45
+  - 1.35
+  forward:
+  - 0
+  - 0.6
+  - -0.8
+  left:
+  - -1
+  - 0
+  - 0
+# - name: front_camera
+#   type: D435
+#   position:
+#   - 0
+#   - -0.45
+#   - 0.85
+#   forward:
+#   - 0
+#   - 1
+#   - -0.1
+#   left:
+#   - -1
+#   - 0
+#   - 0
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/info.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1ef9dcf84c8ad2fc6e9fb26104193aabfb66c66
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/info.json
@@ -0,0 +1,62 @@
+{
+  "task": "beat_block_hammer",
+  "embodiment": "ARX-X5",
+  "camera_views": [
+    "head_camera",
+    "left_camera",
+    "right_camera"
+  ],
+  "data_resolution": "320x240",
+  "num_episodes": 50,
+  "embodiment_config": {
+    "urdf": "X5A.urdf",
+    "dual_arm": false,
+    "dis": 0.6,
+    "left_arm": [
+      "joint1",
+      "joint2",
+      "joint3",
+      "joint4",
+      "joint5",
+      "joint6"
+    ],
+    "right_arm": [
+      "joint1",
+      "joint2",
+      "joint3",
+      "joint4",
+      "joint5",
+      "joint6"
+    ],
+    "left_gripper": [
+      "joint7",
+      [
+        [
+          "joint8",
+          1.0,
+          0.0
+        ]
+      ]
+    ],
+    "right_gripper": [
+      "joint7",
+      [
+        [
+          "joint8",
+          1.0,
+          0.0
+        ]
+      ]
+    ],
+    "gripper_scale": [
+      -0.01,
+      0.045
+    ],
+    "grasp_axis": [
+      -1.0,
+      0.0,
+      0.0
+    ]
+  },
+  "source_renderer": "render/render_robotwin.py"
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode0.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..9eb1cf710a264d111a3dc827d521eda4e8b629f9
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Grab the silver hammer, then strike the block.",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Take the hammer for nails and strike the block",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Pick the silver hammer and strike the block.",
+    "Take the silver hammer and smash the block.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Use the left arm to grab the nail-driving hammer and beat",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Take the silver hammer and strike the block",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Pick up the silver hammer using the left arm then beat",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Take the silver hammer and beat the block",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Take the silver curved hammer head and strike the block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Take the hammer for nails and strike the block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Pick up the hammer for nails and use it on the block",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Grab the hammer for nails and use it to hit",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Lift the hammer with claw-shaped end with the left arm then strike block"
+  ],
+  "unseen": [
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode1.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..f634bafb8b11502085f2ff89e63580d0d0f39379
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Hold the hammer for nails and pound the block.",
+    "Pick up the nail-driving hammer and strike the block",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Take the nail-driving hammer and strike the block",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Grab the silver hammer with the left arm and hit block",
+    "Pick the silver hammer and smash the block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Take the medium-sized metal hammer and beat the block",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Take the grippy handle hammer and hammer the block",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Pick the silver hammer with the left arm and hit the block",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Hold the silver hammer and pound the block.",
+    "Pick up the silver hammer and strike the block",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Pick up the silver hammer and use it on the block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Lift the grippy handle hammer and hit the block",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "Take the hammer for nails and strike the block",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Pick the silver hammer and smash the block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Take the nail-driving hammer and beat the block",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Use the left arm to take the silver hammer and strike",
+    "Grab the hammer for nails, then hit the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Employ the left arm to grab the plastic handle metal hammer and hit."
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode10.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e0e2726845d32053205c81cb0d9486c5985f119
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Take the silver hammer using the right arm, hit the block.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Grab the grippy handle hammer, then hit the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Grab the silver curved hammer head using the right arm, then beat the block",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Lift the silver curved hammer head and hit the block",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the nail-driving hammer using the right arm and hit the block",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Take the hammer for nails and hammer the block",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "Grab the silver hammer with the right arm and hit block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Grab the hammer for nails and use it to hit",
+    "Grab the silver hammer to beat the block.",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "Lift the nail-driving hammer with the right arm then strike block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Pick up the medium-sized metal hammer using the right arm, hammer the block.",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Hold the hammer for nails and pound the block.",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Grab the nail-driving hammer, then hit the block",
+    "Pick up the silver curved hammer head and strike the block",
+    "Use the right arm to grab the hammer with claw-shaped end and beat block",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Pick the medium-sized metal hammer with the right arm and hit the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Lift the hammer for nails and hit the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Grab the silver hammer with the right arm and strike block",
+    "Pick the silver hammer and strike the block.",
+    "Take the hammer for nails and strike the block",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "Pick the silver curved hammer head from the table and strike",
+    "Hold the silver curved hammer head then hit the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Grab the silver hammer to beat the block.",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Beat the block after grabbing the hammer for nails"
+  ],
+  "unseen": [
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode11.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f46432eb68391cf30953c369408cf5bbc228dbe
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the nail-driving hammer to hammer the block.",
+    "Grab the medium-sized metal hammer using the right arm and strike the block",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Lift the silver hammer and hit the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Pick the silver hammer and smash the block",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Lift the medium-sized metal hammer using the right arm to hit the block.",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Grab the grippy handle hammer, then hit the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Grab the medium-sized metal hammer using the right arm and hit the block",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Take the nail-driving hammer and hammer the block",
+    "Take the grippy handle hammer and beat the block",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Pick up the silver curved hammer head with the right arm, strike the block.",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Hold the hammer for nails and pound the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "Take the silver curved hammer head and beat the block",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Grab the silver hammer to beat the block.",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Take the silver curved hammer head and beat the block",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Use the right arm to grab the hammer with claw-shaped end and beat block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Hold the black and yellow hammer grip then hit the block"
+  ],
+  "unseen": [
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode12.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..6183e6615a5bd57edbf95e9aed59f84b97c9ab81
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Grab the nail-driving hammer, then hit the block",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "With the right arm, grab the plastic handle metal hammer and hit the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Grab the silver hammer with the right arm and strike block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Pick the silver hammer and smash the block",
+    "Employ the right arm to grab the plastic handle metal hammer and hit.",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Hold the grippy handle hammer and pound the block.",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick up the silver hammer using the right arm then beat",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Use the silver curved hammer head to hammer the block.",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "Grab the yellow and black hammer grip using the right arm then pound block",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Hold the hammer for nails then hit the block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Grab the silver hammer using the right arm, then beat the block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode13.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..c56880bde84633fb65359b788ffa44e14bfb4d0a
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Lift the plastic handle metal hammer with the left arm then strike block",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Grab the nail-driving hammer and use it to hit",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Take the silver curved hammer head and strike the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Take the grippy handle hammer and strike the block",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Hold the nail-driving hammer and pound the block.",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Grab the nail-driving hammer and use it to hit",
+    "Use the left arm to take the hammer for nails and strike",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Hold the hammer for nails then hit the block",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Grab the grippy handle hammer to beat the block.",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick the silver hammer and strike the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Beat the block after grabbing the silver hammer",
+    "Take the medium-sized metal hammer and strike the block",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Lift the hammer for nails and hit the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Lift the hammer for nails, then beat the block.",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Grab the silver hammer with the left arm and hit block",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "With the left arm, pick up the hammer with two-tone handle and strike the block.",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Take the hammer for nails and beat the block",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Grab the hammer for nails, then strike the block."
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode14.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa2bc66855539734d6cdb9b6dcf57af2294645df
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the silver curved hammer head and hit the block.",
+    "Utilize the right arm to hold the grippy handle hammer and strike.",
+    "Take the nail-driving hammer and smash the block.",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "With the right arm, grab the plastic handle metal hammer and beat the block.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Hold the hammer for nails and pound the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "Take the handheld medium claw hammer and beat the block",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Use the right arm to take the silver hammer and strike",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Take the nail-driving hammer and strike the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Take the silver hammer and hammer the block",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Grab the hammer for nails, then hit the block",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Lift the silver hammer with the right arm then strike block",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Grab the hammer for nails to beat the block.",
+    "Hold the silver hammer then hit the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Take the hammer for nails and smash the block.",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Take the silver curved hammer head and strike the block",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Take the handheld medium claw hammer and beat the block",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Grab the handheld medium claw hammer using the right arm and strike the block",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Pick up the silver hammer and strike the block",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Lift the nail-driving hammer with the right arm then strike block",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Take the silver curved hammer head and beat the block",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Grab the handheld medium claw hammer and use it to hit"
+  ],
+  "unseen": [
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode15.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a42a041973933ba8a6ec2b3581f107cab49ae59
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Lift the hammer for nails and hit the block.",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Pick the silver hammer with the right arm and hit the block",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Hold the nail-driving hammer then hit the block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Grab the silver hammer using the right arm then pound block",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Take the silver curved hammer head and hammer the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Take the silver curved hammer head and strike the block",
+    "Pick up the yellow and black hammer grip with the right arm, strike the block.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Lift the silver curved hammer head and hit the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Grab the silver hammer with the right arm and hit block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "With the right arm, grab the plastic handle metal hammer and hit the block",
+    "Use the right arm to grab the medium-sized metal hammer and beat block",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Take the hammer for nails and strike the block",
+    "Grab the hammer for nails and use it to hit",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Take the grippy handle hammer and beat the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Take the nail-driving hammer using the right arm, hit the block.",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "Grab the plastic handle metal hammer with the right arm and beat the block.",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Take the silver hammer and strike the block",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block."
+  ],
+  "unseen": [
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode16.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..9575d23b3b9318fdcfbccedae17198a495746e0e
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the silver hammer to beat the block.",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Pick the grippy handle hammer and smash the block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Employ the left arm to grab the yellow and black hammer grip and hit.",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Catch the silver hammer and use it on the block.",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Grab the hammer for nails, then strike the block.",
+    "Grab the hammer for nails, then hit the block",
+    "Beat the block after grabbing the silver hammer",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Pick the nail-driving hammer and smash the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Take the nail-driving hammer and hammer the block",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Employ the left arm to grab the yellow and black hammer grip and hit.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Take the grippy handle hammer and strike the block",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Take the silver hammer and strike the block",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Pick the silver hammer with the left arm and hit the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Grab the silver hammer, then hit the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block."
+  ],
+  "unseen": [
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode17.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf4306978493969f862c754468e1ec6b1890b82d
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Hold the silver hammer then hit the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Pick the hammer for nails from the table and strike",
+    "Pick the nail-driving hammer and smash the block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Lift the silver hammer with the left arm then strike block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Use the silver hammer to hammer the block.",
+    "Take the hammer for nails and hammer the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Lift the silver curved hammer head and hit the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Pick the grippy handle hammer and smash the block",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Hold the hammer for nails and pound the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Lift the hammer for nails, then beat the block.",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Pick up the silver hammer using the left arm then beat",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Grab the silver curved hammer head, then hit the block",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Use the silver curved hammer head to hammer the block.",
+    "Take the grippy handle hammer and hammer the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Grab the hammer for nails to beat the block.",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "Take the hammer with claw-shaped end and smash the block."
+  ],
+  "unseen": [
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode18.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..16dd59521d677c55874c7ff1445ff6b8c7f023dc
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Take the silver curved hammer head and strike the block",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Take the silver hammer and beat the block",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Take the grippy handle hammer and hammer the block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Hold the hammer for nails and pound the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Grab the hammer for nails, then hit the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Pick the silver curved hammer head and smash the block",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Take the nail-driving hammer and strike the block",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Take the hammer for nails and beat the block",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Take the hammer for nails and hammer the block",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Use the silver curved hammer head to hammer the block.",
+    "Grab the grippy handle hammer, then hit the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Hold the hammer for nails then hit the block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Pick the hammer for nails and strike the block.",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Take the silver curved hammer head and smash the block.",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Lift the silver curved hammer head and hit the block.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Take the yellow and black hammer grip using the left arm, hit the block."
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode19.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c159c67a1649b0531b5e7084bf27a499354bcfa
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the hammer for nails and hammer the block",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Lift the nail-driving hammer and hit the block",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Take the nail-driving hammer and smash the block.",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Lift the medium-sized metal hammer using the right arm to hit the block.",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Grab the hammer for nails to beat the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Grab the silver hammer with the right arm and hit block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick up the silver hammer and strike the block",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "With the right arm, pick up the silver hammer and strike the block.",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Pick the grippy handle hammer from the table and strike",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Grab the grippy handle hammer, then strike the block.",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Pick the grippy handle hammer and smash the block",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Lift the grippy handle hammer and hit the block",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Use the right arm to grab the hammer with claw-shaped end and beat block",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Grab the silver curved hammer head and use it to hit",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Take the nail-driving hammer and smash the block.",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Grab the hammer for nails to beat the block.",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Lift the nail-driving hammer and hit the block.",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Use the right arm to take the silver hammer and strike",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Catch the silver hammer and use it on the block.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Pick the silver hammer and strike the block.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Pick the nail-driving hammer and smash the block",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Use the silver hammer to hammer the block.",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Take the hammer for nails and strike the block"
+  ],
+  "unseen": [
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode2.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..3994a27599eb018d5d08dbc54c9fc669648ae8e8
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Lift the silver hammer with the right arm then strike block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Hold the hammer for nails then hit the block",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Employ the right arm to grab the black and yellow hammer grip and hit.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Use the right arm to grab the silver hammer and beat",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Use the grippy handle hammer to hammer the block.",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Lift the yellow and black hammer grip using the right arm to hit the block.",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Grab the hammer for nails with the right arm and strike block",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Catch the silver hammer and use it on the block.",
+    "Grab the silver curved hammer head to beat the block.",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Lift the hammer for nails and hit the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Take the silver hammer and strike the block",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "Pick the nail-driving hammer and smash the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Take the hammer for nails and beat the block",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "Grab the grippy handle hammer, then hit the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Use the right arm to take the hammer for nails and strike",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Grab the silver hammer using the right arm then pound block",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Pick up the nail-driving hammer and strike the block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "With the right arm, grab the plastic handle metal hammer and beat the block.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Hold the nail-driving hammer and pound the block.",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "Lift the silver hammer and hit the block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Pick the plastic handle metal hammer with the right arm and hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Take the nail-driving hammer and hammer the block",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Pick the grippy handle hammer from the table and strike",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block."
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode20.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e64ea52b934503d54a26273d49d8ab3b00ef6e9
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Use the left arm to grab the silver hammer and beat",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Take the hammer for nails and beat the block",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Beat the block after grabbing the silver hammer",
+    "Hold the grippy handle hammer then hit the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Hold the silver hammer and pound the block.",
+    "Use the silver curved hammer head to hammer the block.",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Take the hammer for nails and smash the block.",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Grab the grippy handle hammer and use it to hit",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Use the left arm to take the silver hammer and strike",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Grab the grippy handle hammer, then hit the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Pick the nail-driving hammer and smash the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Pick up the silver hammer using the left arm then beat",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Beat the block after grabbing the hammer for nails",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Use the grippy handle hammer to hammer the block.",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Grab the hammer for nails using the left arm and hit the block"
+  ],
+  "unseen": [
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode21.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bc76191f645e83e3828df520df9a445095026bf
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Take the grippy handle hammer and strike the block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Hold the nail-driving hammer and pound the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Pick the silver hammer and smash the block",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Take the silver hammer and beat the block",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Hold the nail-driving hammer then hit the block",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Lift the hammer for nails and hit the block.",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Grab the medium-sized metal hammer using the right arm and hit the block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Use the right arm to take the silver hammer and strike",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Make the right arm grab the silver hammer and strike the block.",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Grab the medium-sized metal hammer using the right arm and strike the block",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Grab the silver curved hammer head using the right arm, then beat the block",
+    "Utilize the right arm to hold the grippy handle hammer and strike.",
+    "Take the nail-driving hammer and beat the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "With the right arm, grab the plastic handle metal hammer and hit the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Hold the silver hammer and pound the block.",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Pick the silver hammer and smash the block",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Take the hammer for nails and beat the block",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Hold the grippy handle hammer then hit the block",
+    "Use the right arm to grab the silver hammer and beat block",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Lift the grippy handle hammer and hit the block.",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Grab the silver hammer with the right arm and strike block",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Pick up the silver hammer and use it on the block",
+    "Use the right arm to take the hammer with claw-shaped end and strike",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Grab the silver curved hammer head, then hit the block",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Make the right arm grab the silver hammer and strike the block.",
+    "Lift the silver curved hammer head and hit the block",
+    "Grab the medium-sized metal hammer using the right arm and strike the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Lift the silver curved hammer head with the right arm then strike block"
+  ],
+  "unseen": [
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode22.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..042f72bfb77eb86b88c83b31eb317af47104b8a7
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the silver hammer and hammer the block",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "With the left arm, pick up the hammer with two-tone handle and strike the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Take the yellow and black hammer grip and strike the block",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Take the silver hammer and beat the block",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Grab the hammer with two-tone handle with the left arm and hit block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Take the nail-driving hammer and beat the block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Grab the hammer for nails, then hit the block",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Hold the grippy handle hammer and pound the block.",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grab the silver curved hammer head and use it to hit",
+    "Lift the silver curved hammer head and hit the block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Use the left arm to take the silver hammer and strike",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Grab the silver hammer using the left arm then pound block",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Pick the hammer for nails and smash the block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Grab the nail-driving hammer, then hit the block",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Hold the silver hammer and pound the block.",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Grab the silver hammer to beat the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Lift the silver hammer and hit the block",
+    "Lift the hammer for nails, then beat the block."
+  ],
+  "unseen": [
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode23.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..757640e8c7af980bd9ae92188ef2b6407b886763
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Grab the silver curved hammer head, then hit the block",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Take the hammer for nails and hammer the block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "Take the hammer for nails and beat the block",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Lift the silver hammer with the right arm then strike block",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Lift the silver curved hammer head using the right arm to hit the block.",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Use the grippy handle hammer to hammer the block.",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Hold the hammer for nails then hit the block",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Grab the silver hammer with the right arm and strike block",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the yellow and black hammer grip with the right arm and beat the block.",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Lift the silver hammer, then beat the block.",
+    "Pick the silver hammer and smash the block",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "Employ the right arm to grab the grippy handle hammer and hit.",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "With the right arm, grab the plastic handle metal hammer and beat the block.",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Hold the hammer for nails and pound the block.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Use the silver hammer to hammer the block.",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Pick up the hammer for nails using the right arm then beat"
+  ],
+  "unseen": [
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode24.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..50e2c3f86c2317c08ac9efb1818510c4ab346183
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Take the silver curved hammer head and strike the block",
+    "Pick up the hammer for nails and strike the block",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "Pick the nail-driving hammer and strike the block.",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Hold the silver hammer then hit the block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Lift the grippy handle hammer using the left arm to hit the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Take the silver hammer and smash the block.",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Pick the hammer for nails and smash the block",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Lift the silver curved hammer head and hit the block",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Take the grippy handle hammer and hammer the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Grab the silver hammer to beat the block.",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Use the left arm to take the silver curved hammer head and strike",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Take the hammer for nails and smash the block.",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Lift the hammer for nails, then beat the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Grab the silver hammer, then hit the block",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Pick up the medium-sized metal hammer using the left arm then beat"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode25.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..e050e31d3584c56f8cccf8a655405b8fb36d5bb2
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Grab the medium-sized metal hammer using the right arm and strike the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the silver hammer to beat the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Take the hammer for nails and beat the block",
+    "Lift the silver hammer and hit the block.",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Use the hammer for nails to hammer the block.",
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Hold the silver hammer then hit the block",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Catch the silver hammer and use it on the block.",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Lift the silver hammer, then beat the block.",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Take the silver hammer and smash the block.",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Pick the silver hammer and smash the block",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Take the grippy handle hammer and beat the block",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Make the right arm grab the silver hammer and strike the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Pick the silver curved hammer head from the table and strike",
+    "Take the hammer for nails and hammer the block",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "Take the hammer for nails and beat the block",
+    "Lift the grippy handle hammer and hit the block.",
+    "Grab the hammer for nails, then strike the block.",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Use the hammer for nails to hammer the block.",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Pick up the silver hammer using the right arm then beat",
+    "Employ the right arm to grab the plastic handle metal hammer and hit.",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Grab the silver curved hammer head using the right arm, then beat the block",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Catch the silver hammer and use it on the block.",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Grab the silver hammer and use it to hit",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Pick the silver hammer and smash the block",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Take the silver hammer and beat the block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "Take the silver hammer and hammer the block"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode26.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6b01ae74714582671dd3f44fa03317056622f4b
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Take the grippy handle hammer and smash the block.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Lift the silver curved hammer head and hit the block.",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Take the silver hammer and hammer the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Pick up the silver curved hammer head and strike the block",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Hold the grippy handle hammer and pound the block.",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Take the hammer for nails and strike the block",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Pick the nail-driving hammer and strike the block.",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Take the grippy handle hammer and smash the block.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Employ the left arm to grab the yellow and black hammer grip and hit.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Grab the nail-driving hammer, then hit the block",
+    "Take the hammer for nails and strike the block",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Hold the silver hammer and pound the block.",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Take the nail-driving hammer and strike the block",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Pick the nail-driving hammer and strike the block.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Grab the silver curved hammer head using the left arm then pound block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode27.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b9651f4a1c92708ac9e1219b21ba754afd475bc
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the nail-driving hammer and strike the block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Hold the grippy handle hammer and pound the block.",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Pick the grippy handle hammer and smash the block",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "Take the grippy handle hammer and beat the block",
+    "Pick the silver curved hammer head from the table and strike",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Take the hammer with two-tone handle and strike the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Grab the hammer for nails and use it to hit",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Lift the silver curved hammer head and hit the block.",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Take the hammer for nails and beat the block",
+    "Pick up the silver hammer and strike the block",
+    "Grab the silver hammer to beat the block.",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Lift the plastic handle metal hammer with the left arm then strike block",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Hold the silver curved hammer head and pound the block.",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Pick the nail-driving hammer and strike the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Take the hammer for nails and beat the block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Hold the nail-driving hammer then hit the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Take the grippy handle hammer and strike the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Grab the silver hammer and use it to hit",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Pick up the nail-driving hammer with the left arm, strike the block."
+  ],
+  "unseen": [
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode28.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6980c15dde39fccd1f290a8c236c0a33df753b0
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the silver hammer, then strike the block.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Pick the silver curved hammer head and smash the block",
+    "Lift the hammer for nails and hit the block",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the silver hammer to beat the block.",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Pick up the hammer for nails and use it on the block",
+    "Grab the hammer for nails, then hit the block",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Use the left arm to take the silver hammer and strike",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Beat the block after grabbing the hammer for nails",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "Pick the grippy handle hammer and strike the block.",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Take the hammer for nails and beat the block",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Take the silver hammer and smash the block.",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Take the hammer for nails and strike the block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Lift the plastic handle metal hammer and hit the block",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Grab the grippy handle hammer to beat the block.",
+    "Use the left arm to grab the silver hammer and beat",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Lift the silver hammer with the left arm then strike block",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Pick the grippy handle hammer and strike the block.",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Grab the hammer for nails and use it to hit",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Take the hammer with two-tone handle and strike the block"
+  ],
+  "unseen": [
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode29.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..33c0ca2db297277d71ed961343848319d1577269
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Take the grippy handle hammer and beat the block",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Use the nail-driving hammer to hammer the block.",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Grab the grippy handle hammer, then hit the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Pick up the silver hammer and strike the block",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Grab the nail-driving hammer and use it to hit",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Pick the nail-driving hammer from the table and strike",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Use the nail-driving hammer to hammer the block.",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Beat the block after grabbing the hammer for nails",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Lift the grippy handle hammer using the left arm to hit the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Grab the silver hammer, then hit the block",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Lift the silver hammer, then beat the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Use the left arm to take the hammer for nails and strike",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Lift the silver curved hammer head and hit the block",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Hold the medium-sized metal hammer then hit the block"
+  ],
+  "unseen": [
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode3.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef3517f6ef9bd39e59d6bc6077ebdfc1e2e147d5
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Take the silver hammer and smash the block.",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Grab the medium-sized metal hammer using the right arm and strike the block",
+    "Grab the silver hammer using the right arm then pound block",
+    "Take the silver curved hammer head and hammer the block",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Pick up the hammer for nails using the right arm then beat",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Grab the hammer for nails with the right arm and hit block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Lift the silver hammer with the right arm then strike block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Grab the silver hammer to beat the block.",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "With the right arm, grab the hammer for nails and beat the block.",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Lift the nail-driving hammer and hit the block",
+    "Take the silver curved hammer head and strike the block",
+    "Pick the hammer for nails and smash the block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Use the right arm to grab the medium-sized metal hammer and beat block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "Take the silver hammer using the right arm, hit the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Hold the hammer for nails and pound the block.",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "Grab the hammer for nails and use it to hit",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "Grab the hammer for nails to beat the block.",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Take the hammer for nails and beat the block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Hold the hammer for nails then hit the block",
+    "Grab the medium-sized metal hammer, then hit the block"
+  ],
+  "unseen": [
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode30.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..77d7e2e1e7925793f7c9d0332ad4267ff2d9caf2
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Take the nail-driving hammer and strike the block",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Lift the silver hammer, then beat the block.",
+    "Use the hammer for nails to hammer the block.",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Grab the silver hammer, then hit the block",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Pick the silver curved hammer head from the table and strike",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Grab the silver hammer with the left arm and strike block",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Pick up the silver hammer and strike the block",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Lift the silver hammer and hit the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Pick up the silver hammer using the left arm then beat",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Take the silver curved hammer head and strike the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Grab the hammer for nails and use it to hit",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Grab the silver hammer using the left arm then pound block",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Grab the silver hammer, then hit the block",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Lift the silver curved hammer head and hit the block.",
+    "Take the silver curved hammer head and strike the block",
+    "With the left arm, grab the black and yellow hammer grip and beat the block."
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode31.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f16615fd1de15d7989fbf04ca33ea7fd0972aa6
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Pick the silver hammer and strike the block.",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Use the right arm to take the hammer for nails and strike",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Lift the handheld medium claw hammer with the right arm then strike block",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "Take the hammer with two-tone handle and strike the block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Take the silver hammer and hammer the block",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Take the hammer for nails and beat the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Take the silver curved hammer head and strike the block",
+    "Take the silver hammer and smash the block.",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Use the right arm to grab the silver hammer and beat",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Pick the silver hammer from the table and strike",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Hold the silver hammer and pound the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Grab the hammer for nails to beat the block.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "With the right arm, grab the hammer for nails and hammer the block",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Lift the nail-driving hammer and hit the block.",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Take the grippy handle hammer and hammer the block",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Take the grippy handle hammer and beat the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Pick up the medium-sized metal hammer with the right arm, strike the block."
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode32.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..214805d8589830e184f1ab1c3703458e5b078b13
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Grab the silver hammer and use it to hit",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Grab the hammer for nails to beat the block.",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Take the silver hammer and beat the block",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Take the silver hammer and strike the block",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Lift the silver curved hammer head and hit the block",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Pick the silver curved hammer head and smash the block",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Grab the grippy handle hammer to beat the block.",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Take the silver hammer and strike the block",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Pick up the silver hammer and strike the block",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Grab the silver curved hammer head, then hit the block",
+    "Lift the grippy handle hammer and hit the block",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Hold the silver hammer and pound the block.",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Take the silver curved hammer head and smash the block.",
+    "Hold the yellow and black hammer grip then hit the block"
+  ],
+  "unseen": [
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode33.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..018c304e086dde0592c853911d8d452ea3a6f113
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Grab the nail-driving hammer to beat the block.",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Take the silver curved hammer head and beat the block",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Take the nail-driving hammer and smash the block.",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Pick up the hammer for nails and use it on the block",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Lift the hammer for nails, then beat the block.",
+    "Use the left arm to take the silver curved hammer head and strike",
+    "Lift the grippy handle hammer and hit the block",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Lift the grippy handle hammer and hit the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Pick the yellow and black hammer grip and smash the block",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Take the nail-driving hammer and beat the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Take the silver hammer and strike the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Pick the nail-driving hammer and smash the block",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Hold the silver hammer then hit the block"
+  ],
+  "unseen": [
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode34.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..452d972c9aced14e576c9ec400ae23a4e1123ccc
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Lift the hammer for nails and hit the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Take the nail-driving hammer and smash the block.",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Hold the hammer for nails and pound the block.",
+    "Use the grippy handle hammer to hammer the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Pick the silver hammer and smash the block",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Take the nail-driving hammer and strike the block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Grab the silver hammer, then strike the block.",
+    "Pick the silver hammer and strike the block.",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Grab the silver hammer, then hit the block",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Take the hammer for nails and beat the block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Hold the silver hammer and pound the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Pick the silver curved hammer head from the table and strike",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Grab the hammer for nails to beat the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "Hold the hammer for nails then hit the block",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Take the silver curved hammer head and strike the block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Lift the grippy handle hammer using the left arm to hit the block.",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Lift the yellow and black hammer grip, then beat the block."
+  ],
+  "unseen": [
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode35.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b9798106eb34d2e8f488e2fdfdb831135ef5de2
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the plastic handle metal hammer and strike the block",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Take the hammer for nails and smash the block.",
+    "Grab the hammer with claw-shaped end with the right arm and hit the block",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Lift the silver curved hammer head and hit the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Take the hammer for nails and strike the block",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Pick up the silver hammer and strike the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Use the silver hammer to hammer the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Use the right arm to grab the hammer with claw-shaped end and beat block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Pick the medium-sized metal hammer with the right arm and hit the block",
+    "Lift the hammer for nails and hit the block.",
+    "Grab the hammer for nails to beat the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Hold the silver hammer then hit the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Pick up the silver curved hammer head with the right arm, strike the block.",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Take the silver curved hammer head and strike the block",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "Pick up the hammer for nails and strike the block",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Hold the hammer for nails and pound the block.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Beat the block after grabbing the hammer for nails",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Pick the plastic handle metal hammer with the right arm and hit the block",
+    "Lift the silver hammer and hit the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Hold the hammer for nails then hit the block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Take the silver hammer and beat the block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Pick up the medium-sized metal hammer using the right arm then beat",
+    "Lift the silver curved hammer head, then beat the block.",
+    "With the right arm, grab the hammer for nails and hit the block"
+  ],
+  "unseen": [
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode36.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..9132681b2d911a9372bdeafa785ce9a10d147104
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Grab the hammer with claw-shaped end with the right arm and hit the block",
+    "Take the hammer for nails and strike the block",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Pick up the silver hammer and use it on the block",
+    "Take the hammer for nails and beat the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Use the right arm to grab the silver hammer and beat",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Lift the hammer for nails and hit the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Pick up the silver curved hammer head and strike the block",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Pick up the medium-sized metal hammer with the right arm, strike the block.",
+    "Pick the silver hammer from the table and strike",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Take the nail-driving hammer and strike the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "Take the nail-driving hammer and smash the block.",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Pick the silver hammer and strike the block.",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Employ the right arm to grab the grippy handle hammer and hit.",
+    "Pick up the hammer for nails and use it on the block",
+    "Take the silver hammer and beat the block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Grab the grippy handle hammer to beat the block.",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Grab the hammer for nails with the right arm and hit block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick the nail-driving hammer and smash the block",
+    "Lift the hammer for nails and hit the block.",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Use the hammer for nails to hammer the block.",
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Lift the hammer with claw-shaped end, then beat the block."
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode37.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ff27ee0b00d9ba3ca03e7bb8c341736c9fce92a
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Pick the silver curved hammer head and smash the block",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Take the nail-driving hammer and smash the block.",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Pick up the grippy handle hammer and strike the block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Lift the nail-driving hammer and hit the block.",
+    "Pick the nail-driving hammer and strike the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "Employ the left arm to grab the yellow and black hammer grip and hit.",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Take the silver curved hammer head and strike the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Grab the hammer for nails, then hit the block",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Lift the silver hammer and hit the block",
+    "Grab the silver hammer with the left arm and hit block",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Grab the silver hammer with the left arm and strike block",
+    "Hold the silver hammer then hit the block",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Take the nail-driving hammer and smash the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Pick up the hammer for nails and strike the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Lift the nail-driving hammer and hit the block.",
+    "Pick the nail-driving hammer and strike the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Hold the hammer for nails and pound the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Lift the grippy handle hammer using the left arm to hit the block.",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Take the hammer for nails and hammer the block",
+    "Use the hammer for nails to hammer the block.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Take the nail-driving hammer and strike the block",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Take the hammer for nails and strike the block",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Grab the hammer for nails, then hit the block",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Lift the hammer for nails and hit the block"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode38.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff3b33fcabfd2c94cb393720c8346fa2f5bb3843
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the nail-driving hammer and strike the block",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Hold the silver hammer and pound the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Lift the handheld medium claw hammer with the right arm then strike block",
+    "Grab the hammer with claw-shaped end with the right arm and hit the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Grab the silver curved hammer head to beat the block.",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Take the silver curved hammer head and beat the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Pick the silver hammer and strike the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Take the nail-driving hammer and hammer the block",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Take the nail-driving hammer using the right arm, hit the block.",
+    "Pick the silver hammer from the table and strike",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Lift the silver curved hammer head using the right arm to hit the block.",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Grab the silver hammer using the right arm and hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Grab the hammer with claw-shaped end with the right arm and hit the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Grab the hammer for nails, then strike the block.",
+    "Lift the silver hammer, then beat the block.",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Grab the nail-driving hammer, then hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Take the hammer for nails and strike the block",
+    "Take the silver hammer and hammer the block",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Pick up the nail-driving hammer and use it on the block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode39.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..c47b09256f0187809045c48dcd688d941a85bcc0
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Pick up the silver hammer using the left arm then beat",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Take the hammer for nails and smash the block.",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Grab the grippy handle hammer to beat the block.",
+    "With the left arm, pick up the hammer with two-tone handle and strike the block.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Lift the silver curved hammer head, then beat the block.",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Take the yellow and black hammer grip and strike the block",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Lift the nail-driving hammer and hit the block.",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Take the hammer for nails and strike the block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Use the hammer for nails to hammer the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Pick up the nail-driving hammer and strike the block",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Take the hammer for nails and hammer the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Lift the silver curved hammer head, then beat the block.",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Lift the silver hammer with the left arm then strike block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block."
+  ],
+  "unseen": [
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode4.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..6868f299db4da974b6bb2a3a4c20d18934db6175
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Use the hammer for nails to hammer the block.",
+    "Catch the hammer for nails and use it on the block.",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Take the silver hammer and beat the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Take the silver hammer and beat the block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Use the left arm to take the silver curved hammer head and strike",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Pick up the silver hammer and use it on the block",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Use the left arm to grab the silver hammer and beat",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Take the hammer for nails and strike the block",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Lift the silver hammer and hit the block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "Pick up the silver curved hammer head and strike the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Pick up the silver hammer and use it on the block",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Hold the grippy handle hammer and pound the block.",
+    "Lift the silver curved hammer head and hit the block.",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Hold the nail-driving hammer then hit the block",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Lift the hammer for nails, then beat the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block."
+  ],
+  "unseen": [
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode40.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f5d03805aab684acd14e5328237688ac5cf9716
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the silver hammer with the left arm and hit block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Take the silver hammer and hammer the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Grab the hammer for nails to beat the block.",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Use the silver hammer to hammer the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Take the silver hammer and beat the block",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Hold the nail-driving hammer then hit the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Grab the grippy handle hammer, then strike the block.",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Pick the silver hammer and smash the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Use the silver curved hammer head to hammer the block.",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Grab the nail-driving hammer, then hit the block",
+    "Grab the hammer for nails and use it to hit",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Take the grippy handle hammer and beat the block",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Hold the hammer for nails then hit the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Pick up the hammer with two-tone handle and use it on the block"
+  ],
+  "unseen": [
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode41.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5ae140805b93ba7d087ed800b470de0d8436e00
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "Take the silver curved hammer head and smash the block.",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Take the hammer with two-tone handle and beat the block",
+    "Take the silver curved hammer head and strike the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Grab the silver hammer to beat the block.",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Grab the silver hammer with the left arm and hit block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Employ the left arm to grab the yellow and black hammer grip and hit.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Use the hammer for nails to hammer the block.",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Take the silver curved hammer head and hammer the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Grab the silver curved hammer head, then hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Hold the silver hammer and pound the block.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Take the hammer for nails and strike the block",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Use the left arm to grab the nail-driving hammer and beat",
+    "Take the nail-driving hammer and beat the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Lift the silver hammer and hit the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Employ the left arm to grab the grippy handle hammer and hit."
+  ],
+  "unseen": [
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode42.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..40493d86f86f964045cc342a51d33671d14995c5
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Use the right arm to grab the silver hammer and beat",
+    "Pick the nail-driving hammer and smash the block",
+    "Hold the silver hammer then hit the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "With the right arm, grab the plastic handle metal hammer and beat the block.",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Grab the grippy handle hammer to beat the block.",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Use the grippy handle hammer to hammer the block.",
+    "Grab the nail-driving hammer using the right arm and hit the block",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Lift the silver hammer and hit the block.",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Pick up the medium-sized metal hammer using the right arm then beat",
+    "Use the right arm to take the silver hammer and strike",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the silver hammer, then hit the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Pick the silver hammer and smash the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Grab the hammer for nails to beat the block.",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Employ the right arm to grab the plastic handle metal hammer and hit.",
+    "Lift the hammer for nails with the right arm then strike block",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Grab the handheld medium claw hammer using the right arm and strike the block",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Lift the grippy handle hammer and hit the block",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Take the silver curved hammer head and strike the block",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "With the right arm, grab the hammer for nails and hammer the block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Utilize the right arm to hold the grippy handle hammer and strike.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Catch the hammer for nails and use it on the block.",
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Grab the grippy handle hammer with the right arm and hit block"
+  ],
+  "unseen": [
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode43.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a23d9f7a7765aa1cd771ff7f0838f74692e092c
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "Grab the silver hammer with the left arm and hit block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Beat the block after grabbing the silver hammer",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Lift the plastic handle metal hammer and hit the block",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Lift the silver hammer, then beat the block.",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the nail-driving hammer and strike the block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Hold the silver curved hammer head then hit the block",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Grab the hammer with two-tone handle using the left arm then pound block",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Hold the nail-driving hammer then hit the block",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Grab the grippy handle hammer to beat the block.",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Take the silver hammer and hammer the block",
+    "Pick up the silver curved hammer head and strike the block",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Use the left arm to take the hammer with claw-shaped end and strike"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode44.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..43063eaac15e546b9355a6c80a993444a2913712
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the silver hammer and strike the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Grab the silver hammer with the left arm and hit block",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Take the silver hammer and hammer the block",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Use the silver curved hammer head to hammer the block.",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Hold the grippy handle hammer and pound the block.",
+    "Take the silver curved hammer head and smash the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Hold the grippy handle hammer then hit the block",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Lift the silver curved hammer head and hit the block",
+    "Grab the silver hammer and use it to hit",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Beat the block after grabbing the silver hammer",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Catch the hammer for nails and use it on the block.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Grab the silver curved hammer head to beat the block.",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Pick up the silver hammer and strike the block",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Take the hammer with two-tone handle and strike the block"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode45.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3999e8b4fb1a1b199caf05e476ee7cd72a6b730
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the silver curved hammer head and use it on the block",
+    "Lift the silver hammer and hit the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Take the silver hammer and beat the block",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Pick up the silver hammer using the left arm then beat",
+    "Grab the hammer for nails, then hit the block",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "Lift the hammer for nails and hit the block.",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Lift the silver hammer and hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Pick up the hammer for nails and strike the block",
+    "Take the silver hammer and strike the block",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Pick the nail-driving hammer and smash the block",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Lift the medium-sized metal hammer with the left arm then strike block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode46.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..d27e2df029bbe647ea3ad8fdbf34032ba2ed93f4
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Grab the black and yellow hammer grip using the right arm then pound block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Take the grippy handle hammer and strike the block",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Use the grippy handle hammer to hammer the block.",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Hold the nail-driving hammer then hit the block",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Catch the silver hammer and use it on the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Grab the medium-sized metal hammer with the right arm and hit the block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Take the grippy handle hammer and strike the block",
+    "With the right arm, grab the plastic handle metal hammer and hit the block",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Lift the silver hammer and hit the block",
+    "Use the right arm to grab the medium-sized metal hammer and beat block",
+    "Take the nail-driving hammer and beat the block",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Grab the grippy handle hammer, then hit the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Grab the silver hammer using the right arm then pound block",
+    "Pick the hammer for nails and strike the block.",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Take the silver curved hammer head and strike the block",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Employ the right arm to grab the grippy handle hammer and hit.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Grab the silver curved hammer head and use it to hit",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the silver hammer with the right arm and strike block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Grab the medium-sized metal hammer with the right arm and hit the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Hold the hammer for nails and pound the block.",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Grab the silver hammer with the right arm and hit block",
+    "Take the hammer for nails and strike the block",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Take the black and yellow hammer grip and beat the block"
+  ],
+  "unseen": [
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode47.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..d66f2b83300054f6d79065f56cbccfdf8e8e3c4b
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the grippy handle hammer and hit the block.",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Use the hammer for nails to hammer the block.",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Lift the medium-sized metal hammer using the right arm to hit the block.",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Take the grippy handle hammer and beat the block",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Pick up the yellow and black hammer grip with the right arm, strike the block.",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick up the silver hammer and use it on the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Take the silver hammer and smash the block.",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Use the hammer for nails to hammer the block.",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Grab the yellow and black hammer grip with the right arm and beat the block.",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Grab the black and yellow hammer grip using the right arm then pound block",
+    "With the right arm, grab the plastic handle metal hammer and hit the block",
+    "Pick up the silver curved hammer head with the right arm, strike the block.",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Pick up the hammer for nails and use it on the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Take the nail-driving hammer and smash the block.",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Use the right arm to grab the medium-sized metal hammer and beat",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Grab the hammer for nails with the right arm and hit block",
+    "Grab the silver curved hammer head using the right arm, then beat the block",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Pick up the yellow and black hammer grip and strike the block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode48.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..f56fdf60997b74e94e8adfd4f2a048f397214d02
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Take the silver hammer and hammer the block",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Pick up the silver curved hammer head with the right arm, strike the block.",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Grab the silver hammer, then strike the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Grab the yellow and black hammer grip with the right arm and beat the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Take the silver curved hammer head and smash the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Use the right arm to grab the silver hammer and beat",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Grab the grippy handle hammer and use it to hit",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Pick the hammer for nails and smash the block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Make the right arm grab the medium-sized metal hammer and strike the block.",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Pick up the yellow and black hammer grip with the right arm, strike the block.",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Hold the silver hammer and pound the block.",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "Take the silver hammer and strike the block",
+    "Grab the silver hammer to beat the block.",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Take the hammer for nails and strike the block",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Lift the hammer for nails and hit the block.",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Grab the nail-driving hammer and use it to hit",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Take the silver hammer and beat the block",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "Use the silver hammer to hammer the block.",
+    "Grab the silver hammer, then hit the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Make the right arm grab the black and yellow hammer grip and strike the block."
+  ],
+  "unseen": [
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode49.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..469ee8f3fa00cc627fa9aa835f11efbe45e2fd08
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Lift the grippy handle hammer and hit the block.",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Grab the hammer for nails with the right arm and hit block",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Pick up the medium-sized metal hammer with the right arm, strike the block.",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Hold the hammer for nails then hit the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Use the silver hammer to hammer the block.",
+    "Grab the nail-driving hammer using the right arm and hit the block",
+    "Pick up the hammer for nails and strike the block",
+    "Take the silver curved hammer head and beat the block",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Pick the silver curved hammer head and smash the block",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Take the silver curved hammer head and strike the block",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Use the right arm to grab the silver hammer and beat block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Take the silver hammer and beat the block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Take the silver hammer using the right arm, hit the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Lift the hammer for nails, then beat the block.",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Pick up the silver curved hammer head and strike the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Take the nail-driving hammer and strike the block",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Grab the silver curved hammer head using the right arm, then beat the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Make the right arm grab the handheld medium claw hammer and strike the block."
+  ],
+  "unseen": [
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode5.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee09b0c82d0c3df70fdd84a03658e4f1828d3228
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Pick up the hammer for nails and use it on the block",
+    "Take the nail-driving hammer and strike the block",
+    "Employ the right arm to grab the black and yellow hammer grip and hit.",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Pick the silver curved hammer head and smash the block",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "Lift the silver hammer and hit the block.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Take the silver curved hammer head and smash the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Grab the silver curved hammer head to beat the block.",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Pick up the silver curved hammer head with the right arm, strike the block.",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Lift the silver curved hammer head and hit the block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Use the right arm to take the silver hammer and strike",
+    "Take the yellow and black hammer grip and strike the block",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Pick up the silver hammer using the right arm then beat",
+    "Take the black and yellow hammer grip and beat the block",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Lift the silver hammer, then beat the block.",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Pick up the nail-driving hammer and strike the block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Take the nail-driving hammer and strike the block",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Pick the hammer for nails from the table and strike",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Pick the hammer for nails and smash the block",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Grab the silver curved hammer head to beat the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Grab the yellow and black hammer grip using the right arm then pound block",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Take the medium-sized metal hammer and strike the block",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Take the grippy handle hammer and beat the block",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Beat the block after grabbing the silver hammer",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Lift the nail-driving hammer, then beat the block."
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the silver hammer head and claw then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode6.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..aed52ab448bb4f64a40ed0f7ae2e2aa127c47ee0
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Beat the block after grabbing the silver hammer",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "Lift the grippy handle hammer and hit the block",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Grab the hammer for nails and use it to hit",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Grab the silver hammer, then strike the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Use the left arm to take the hammer for nails and strike",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Grab the hammer for nails, then hit the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Use the left arm to grab the silver hammer and beat",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Hold the grippy handle hammer then hit the block",
+    "Take the silver curved hammer head and strike the block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Take the nail-driving hammer and beat the block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Pick the hammer for nails from the table and strike",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Catch the silver hammer and use it on the block.",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Grab the grippy handle hammer to beat the block.",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Take the silver hammer and hammer the block",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Take the silver curved hammer head and smash the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Take the hammer for nails and strike the block",
+    "Pick the yellow and black hammer grip and smash the block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode7.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..7656b9adb9317a4deb9f0a493aa35d10dee373a6
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Grab the hammer for nails to beat the block.",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Take the hammer for nails and beat the block",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Lift the silver hammer and hit the block",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Grab the silver hammer with the left arm and strike block",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Take the silver curved hammer head and strike the block",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Pick the nail-driving hammer and smash the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Lift the grippy handle hammer and hit the block",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Take the hammer for nails and hammer the block",
+    "Grab the silver hammer, then hit the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Pick up the silver hammer using the left arm then beat",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Beat the block after grabbing the silver hammer",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick the grippy handle hammer and smash the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Lift the silver curved hammer head using the left arm to hit the block."
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode8.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f4bf65f9e2876345da3833bf61a5c88c06a26e2
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Lift the silver hammer, then beat the block.",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Beat the block after grabbing the silver hammer",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Pick the silver hammer and smash the block",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Hold the nail-driving hammer and pound the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Employ the left arm to grab the yellow and black hammer grip and hit.",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Use the silver curved hammer head to hammer the block.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Pick the silver hammer with the left arm and hit the block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Pick the silver hammer from the table and strike",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the silver curved hammer head, then hit the block",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Grab the hammer with two-tone handle with the left arm and hit block",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Lift the silver hammer with the left arm then strike block",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Pick up the nail-driving hammer and strike the block",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Take the silver hammer and beat the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Pick up the handheld medium claw hammer and use it on the block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode9.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ccbda0f05d51ddd6ca3c2d9723919c30d5d5e6f
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Take the nail-driving hammer and beat the block",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Grab the hammer for nails, then hit the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Lift the grippy handle hammer and hit the block",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Grab the hammer for nails and use it to hit",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Use the hammer for nails to beat after grabbing with the right arm",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Lift the medium-sized metal hammer using the right arm to hit the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Lift the silver hammer and hit the block.",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Take the grippy handle hammer and beat the block",
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Take the hammer for nails and strike the block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Use the silver curved hammer head to hammer the block.",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Use the right arm to take the silver hammer and strike",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Grab the silver curved hammer head, then hit the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Lift the silver hammer and hit the block",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Grab the hammer for nails and use it to hit",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Pick up the silver hammer and strike the block",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grip the handheld medium claw hammer firmly and hit the block."
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/scene_info.json b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..39c59d8ba4d62a3470d06a98ce196d36c04fdffa
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ARX-X5/meta/scene_info.json
@@ -0,0 +1,552 @@
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+}
\ No newline at end of file
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new file mode 100644
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@@ -0,0 +1 @@
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+version https://git-lfs.github.com/spec/v1
+oid sha256:1fe20769f5ef23f05f36d7aae62e3636165225143e46fcc2a2e341de6348d69c
+size 6267322
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/data/episode6.hdf5 b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/data/episode6.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..63728004d3f6094a86b078a044025f7aa9a06c03
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/data/episode6.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edf1c947219af7b3129a0e43070b01820ffe75f1909877d95fd94623b523eece
+size 5948752
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/data/episode7.hdf5 b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/data/episode7.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..b0134a1d163f1af552c7219dc1fe326fa9f8b42b
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/data/episode7.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e408984c4b427d77a40528a68eb63d2bf65573f97539e70ae3c117cace57a13f
+size 6132190
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/data/episode8.hdf5 b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/data/episode8.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..1fe265bf6c45251ed3aaa831ac4a18f8076ef66c
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/data/episode8.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b33484ec07c51cbcaacfbf9ab001071b0836d5d62c8da77f103cbce3ba5d80f7
+size 6219736
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/data/episode9.hdf5 b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/data/episode9.hdf5
new file mode 100644
index 0000000000000000000000000000000000000000..a5924b7d52eb84dfb01d8a0530e9b0ab28453dd6
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/data/episode9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19cdbab16272b5c5289f731c21ce980b95474321c34578962d3b90dac7e59048
+size 6340844
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/config.yml b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..8c118a89a92436c78ebf9d967c211d09a08e3ef8
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/config.yml
@@ -0,0 +1,54 @@
+urdf_path: "./urdf/arx5_description_isaac.urdf"
+srdf_path: "./srdf/arx5_description_isaac.srdf"
+joint_stiffness: 1000
+joint_damping: 200
+gripper_stiffness: 1000
+gripper_damping: 200
+move_group: ["fl_link6","fr_link6"]
+ee_joints: ["fl_joint6", "fr_joint6"]
+arm_joints_name: [["fl_joint1", "fl_joint2", "fl_joint3", "fl_joint4", "fl_joint5", "fl_joint6"], ["fr_joint1", "fr_joint2", "fr_joint3", "fr_joint4", "fr_joint5", "fr_joint6"]]
+gripper_name:
+  - base: "fl_joint7"
+    mimic: [["fl_joint8", 1., 0.]]
+  - base: "fr_joint7"
+    mimic: [["fr_joint8", 1., 0.]]
+gripper_bias: 0.12
+gripper_scale: [-0.01, 0.045]
+homestate: [[0,0,0,0,0,0], [0,0,0,0,0,0]]
+delta_matrix: [[1,0,0],[0,1,0],[0,0,1]]
+global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]]
+robot_pose: [[0, -0.65, 0.0, 0.707, 0, 0, 0.707]]
+# planner: "mplib_screw"
+planner: "curobo"
+dual_arm: True
+rotate_lim: [0, 1]
+grasp_perfect_direction: ['front_right', 'front_left']
+static_camera_list: 
+- name: head_camera
+  type: D435
+  position:
+  - -0.032
+  - -0.45
+  - 1.35
+  forward:
+  - 0
+  - 0.6
+  - -0.8
+  left:
+  - -1
+  - 0
+  - 0
+- name: front_camera
+  type: D435
+  position:
+  - 0
+  - -0.45
+  - 0.85
+  forward:
+  - 0
+  - 1
+  - -0.1
+  left:
+  - -1
+  - 0
+  - 0
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/info.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..72bf79c3d04602538287937d1510f418366de7ad
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/info.json
@@ -0,0 +1,67 @@
+{
+  "task": "beat_block_hammer",
+  "embodiment": "aloha-agilex",
+  "camera_views": [
+    "head_camera",
+    "left_camera",
+    "right_camera"
+  ],
+  "data_resolution": "320x240",
+  "num_episodes": 50,
+  "embodiment_config": {
+    "urdf": "urdf/arx5_description_isaac.urdf",
+    "dual_arm": true,
+    "left_arm": [
+      "fl_joint1",
+      "fl_joint2",
+      "fl_joint3",
+      "fl_joint4",
+      "fl_joint5",
+      "fl_joint6"
+    ],
+    "right_arm": [
+      "fr_joint1",
+      "fr_joint2",
+      "fr_joint3",
+      "fr_joint4",
+      "fr_joint5",
+      "fr_joint6"
+    ],
+    "left_gripper": [
+      "fl_joint7",
+      [
+        [
+          "fl_joint8",
+          1.0,
+          0.0
+        ]
+      ]
+    ],
+    "right_gripper": [
+      "fr_joint7",
+      [
+        [
+          "fr_joint8",
+          1.0,
+          0.0
+        ]
+      ]
+    ],
+    "gripper_scale": [
+      -0.01,
+      0.045
+    ],
+    "grasp_axis": [
+      -1.0,
+      0.0,
+      0.0
+    ],
+    "grasp_axis_verified": [
+      1.0,
+      0.0,
+      0.0
+    ],
+    "grasp_axis_note": "default render is GT-exact and does not use grasp_axis; verified approach axis is +X (endpose sits at wrist fl_link6)."
+  },
+  "source_renderer": "render/render_robotwin.py"
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode0.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..20b378f9beb736d9ffa71b9c06c30fbca0de214a
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Grab the nail-driving hammer to beat the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Lift the hammer with two-tone handle and hit the block",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Use the left arm to take the silver curved hammer head and strike",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Take the silver curved hammer head and strike the block",
+    "Take the hammer for nails and smash the block.",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Pick the silver curved hammer head and smash the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Beat the block after grabbing the silver curved hammer head",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Take the silver hammer and beat the block",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Grab the silver curved hammer head, then hit the block",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Grab the nail-driving hammer to beat the block.",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Use the left arm to take the hammer for nails and strike",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Lift the silver hammer, then beat the block.",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Pick the nail-driving hammer and smash the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Use the left arm to grab the plastic handle metal hammer and beat"
+  ],
+  "unseen": [
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode1.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..a36562af2d511988d110aa40a8869801d9310890
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the black and yellow hammer grip and hit the block",
+    "Make the right arm grab the medium-sized metal hammer and strike the block.",
+    "Take the silver hammer and strike the block",
+    "Pick up the silver hammer and use it on the block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Pick up the nail-driving hammer and strike the block",
+    "Grab the hammer for nails to beat the block.",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Take the plastic handle metal hammer and beat the block",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "Grab the black and yellow hammer grip using the right arm then pound block",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Lift the silver hammer and hit the block",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Grab the silver hammer with the right arm and hit the block",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Use the right arm to grab the medium-sized metal hammer and beat",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Take the medium-sized metal hammer and strike the block",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "Grab the yellow and black hammer grip with the right arm and beat the block.",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Take the black and yellow hammer grip and beat the block",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Grab the silver hammer using the right arm and strike the block",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Take the hammer for nails and hammer the block",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Grab the silver curved hammer head using the right arm, then beat the block",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Pick the hammer with two-tone handle and strike the block."
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode10.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..7277b13e91490f8ffbbe478b2beeb9e5d7add207
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Take the grippy handle hammer and strike the block",
+    "Employ the right arm to grab the black and yellow hammer grip and hit.",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Hold the silver hammer then hit the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Pick up the silver curved hammer head with the right arm, strike the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Lift the hammer for nails, then beat the block.",
+    "Catch the silver hammer and use it on the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Pick up the silver hammer and use it on the block",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Grab the hammer with claw-shaped end with the right arm and hit the block",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Hold the grippy handle hammer and pound the block.",
+    "Take the silver hammer and beat the block",
+    "Take the hammer for nails and strike the block",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Use the right arm to take the silver hammer and strike",
+    "Take the hammer for nails and beat the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Lift the handheld medium claw hammer with the right arm then strike block",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Grab the silver curved hammer head, then hit the block",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Grab the silver hammer and use it to hit",
+    "Grab the black and yellow hammer grip using the right arm then pound block",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Catch the black and yellow hammer grip and use it on the block."
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode11.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b4da59b8221a123494e543ddc52d9c5d68d00e8
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Grab the nail-driving hammer, then hit the block",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Grab the silver hammer using the right arm and strike the block",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Beat the block after grabbing the silver hammer",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Utilize the right arm to hold the grippy handle hammer and strike.",
+    "Grab the silver hammer using the right arm and hit the block",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Pick the silver curved hammer head from the table and strike",
+    "Grab the hammer with claw-shaped end with the right arm and hit the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Hold the hammer for nails and pound the block.",
+    "Take the hammer for nails and smash the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Pick up the nail-driving hammer and strike the block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Take the nail-driving hammer and hammer the block",
+    "Use the right arm to grab the silver hammer and beat block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Lift the silver hammer and hit the block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Take the silver hammer and beat the block",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Pick up the silver curved hammer head with the right arm, strike the block.",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Grab the nail-driving hammer, then hit the block",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Use the silver curved hammer head to hammer the block.",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Pick the hammer for nails and smash the block",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Lift the silver hammer and hit the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Grab the hammer for nails with the right arm and strike block"
+  ],
+  "unseen": [
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode12.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..98ef7b6e79256671aab2f7c1bbabf249298ba33c
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Use the silver curved hammer head to hammer the block.",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Grab the silver hammer with the left arm and hit block",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Grab the silver hammer, then strike the block.",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Take the grippy handle hammer and strike the block",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Lift the hammer for nails and hit the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Hold the grippy handle hammer and pound the block.",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Pick the hammer for nails and smash the block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Take the silver hammer and smash the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Lift the grippy handle hammer using the left arm to hit the block.",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Take the silver hammer and hammer the block",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Pick the silver hammer and strike the block.",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Take the grippy handle hammer and strike the block",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Pick up the nail-driving hammer and strike the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Pick the hammer for nails and smash the block",
+    "Grab the silver hammer, then hit the block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Pick up the silver hammer and use it on the block",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Take the plastic handle metal hammer and hammer the block"
+  ],
+  "unseen": [
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode13.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..19518ff2807e7149caff2bb8631631829ed9ac7d
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Take the silver curved hammer head and beat the block",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Pick up the silver hammer and strike the block",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Hold the silver hammer and pound the block.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Pick the silver hammer from the table and strike",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Hold the black and yellow hammer grip then hit the block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Use the left arm to grab the silver hammer and beat",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Take the silver hammer and strike the block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Take the silver hammer and beat the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Grab the hammer for nails and use it to hit",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Grab the hammer for nails to beat the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Hold the hammer for nails and pound the block.",
+    "Lift the silver curved hammer head and hit the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Grab the silver hammer with the left arm and strike block",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Hold the silver hammer then hit the block",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Catch the hammer for nails and use it on the block."
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode14.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..41a7dd92814f566e63de80f9651161c2d671e67e
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Lift the grippy handle hammer using the left arm to hit the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the silver hammer with the left arm and strike block",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Use the left arm to grab the silver hammer and beat",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Grab the hammer for nails, then hit the block",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Take the hammer for nails and beat the block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Grab the silver hammer to beat the block.",
+    "Catch the hammer for nails and use it on the block.",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Pick up the hammer for nails and use it on the block",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Take the nail-driving hammer and strike the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Use the silver hammer to hammer the block.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Take the nail-driving hammer and beat the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Grab the silver curved hammer head and use it to hit",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Take the hammer for nails and strike the block",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Lift the grippy handle hammer and hit the block",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Catch the yellow and black hammer grip and use it on the block."
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode15.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..58aa65037648a3a7581178125f45fe1b7469d1c4
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the grippy handle hammer and smash the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Utilize the right arm to hold the grippy handle hammer and strike.",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Take the grippy handle hammer and strike the block",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Pick up the silver hammer using the right arm then beat",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Use the hammer for nails to hammer the block.",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Hold the silver hammer and pound the block.",
+    "Lift the silver hammer and hit the block",
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "Take the nail-driving hammer and beat the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Grab the nail-driving hammer to beat the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "With the right arm, pick up the silver hammer and strike the block.",
+    "Pick the nail-driving hammer and strike the block.",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Grab the handheld medium claw hammer using the right arm and strike the block",
+    "Take the nail-driving hammer and strike the block",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Grab the nail-driving hammer using the right arm and hit the block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "With the right arm, grab the plastic handle metal hammer and beat the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Lift the silver hammer with the right arm then strike block",
+    "Take the nail-driving hammer and smash the block.",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Grab the grippy handle hammer, then hit the block",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "Take the yellow and black hammer grip and beat the block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Grab the plastic handle metal hammer to beat the block."
+  ],
+  "unseen": [
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode16.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..16ae5605b904ed6342a578a475366142db16fa30
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Grab the hammer for nails, then hit the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Lift the grippy handle hammer and hit the block",
+    "Take the silver hammer and hammer the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Take the hammer for nails and beat the block",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Grab the silver hammer with the left arm and hit the block",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Beat the block after grabbing the silver hammer",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Pick up the hammer for nails and strike the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Lift the grippy handle hammer using the left arm to hit the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the nail-driving hammer and strike the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "Grab the hammer for nails and use it to hit",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Grab the silver hammer using the left arm and hit the block",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Grab the yellow and black hammer grip using the left arm then pound block"
+  ],
+  "unseen": [
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode17.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..1946ad9e89905d6fcce38f631bfa723a6a44cd77
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Grab the silver hammer with the right arm and hit block",
+    "With the right arm, grab the plastic handle metal hammer and hit the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Use the silver hammer to hammer the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Make the right arm grab the silver hammer and strike the block.",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Take the plastic handle metal hammer and beat the block",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Take the silver curved hammer head and hammer the block",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Pick up the medium-sized metal hammer using the right arm then beat",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "Use the right arm to grab the medium-sized metal hammer and beat block",
+    "Take the silver hammer and smash the block.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Take the silver curved hammer head and strike the block",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Grab the medium-sized metal hammer using the right arm and hit the block",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Grab the black and yellow hammer grip using the right arm then pound block",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Pick the plastic handle metal hammer with the right arm and hit the block",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Take the yellow and black hammer grip and beat the block",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Beat the block after grabbing the hammer for nails",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Pick up the hammer for nails and use it on the block",
+    "Use the right arm to grab the silver hammer and beat",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Take the grippy handle hammer and smash the block.",
+    "Hold the yellow and black hammer grip then hit the block"
+  ],
+  "unseen": [
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode18.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b22e745fff02ff0fe3c62b21cb2fdc8493f5079
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the silver curved hammer head, then beat the block.",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Pick the medium-sized metal hammer with the right arm and hit the block",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Grab the silver hammer, then hit the block",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Pick the nail-driving hammer and smash the block",
+    "Take the hammer for nails and beat the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Grab the silver hammer using the right arm then pound block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Take the hammer for nails and smash the block.",
+    "Grab the hammer for nails to beat the block.",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "Lift the hammer for nails and hit the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Take the silver hammer and strike the block",
+    "With the right arm, pick up the silver hammer and strike the block.",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Use the right arm to take the hammer for nails and strike",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Grab the hammer for nails with the right arm and hit block",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Lift the silver hammer, then beat the block.",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Grab the nail-driving hammer and use it to hit",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Grab the grippy handle hammer, then hit the block",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick up the silver hammer and strike the block",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Use the right arm to grab the medium-sized metal hammer and beat block",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Grab the silver hammer with the right arm and hit the block",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Pick the nail-driving hammer and strike the block.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Grab the plastic handle metal hammer using the right arm then pound block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Take the silver hammer and smash the block.",
+    "Grab the hammer for nails to beat the block.",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Lift the grippy handle hammer and hit the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Take the silver hammer and strike the block",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Use the right arm to take the hammer for nails and strike",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Grab the medium-sized metal hammer with the right arm and strike block"
+  ],
+  "unseen": [
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode19.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3c906ec78a6daee6a8945a2c0301724cf90266f
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the black and yellow hammer grip and strike the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "Hold the hammer for nails then hit the block",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Pick up the silver hammer and strike the block",
+    "Pick the silver hammer and strike the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Lift the silver hammer, then beat the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Lift the silver hammer and hit the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Take the grippy handle hammer and strike the block",
+    "Pick the hammer for nails and smash the block",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "Take the silver curved hammer head and hammer the block",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Use the hammer for nails to beat after grabbing with the right arm",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Take the silver hammer and strike the block",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Grab the hammer with claw-shaped end with the right arm and hit the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Lift the silver curved hammer head and hit the block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Use the right arm to grab the silver hammer and beat",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Lift the hammer for nails with the right arm then strike block",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "Make the right arm grab the silver hammer and strike the block.",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Grab the hammer for nails, then hit the block",
+    "Beat the block after grabbing the grippy handle hammer"
+  ],
+  "unseen": [
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode2.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a6fdd0754e6d1324335737885f84a8f93921001
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Grab the nail-driving hammer, then hit the block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Grab the silver hammer with the left arm and strike block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Grab the silver hammer and use it to hit",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Take the silver curved hammer head and beat the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Take the silver hammer and strike the block",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Lift the silver curved hammer head and hit the block.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Pick the silver hammer and strike the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grab the silver hammer, then strike the block.",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Use the left arm to grab the silver hammer and beat",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Pick the hammer with two-tone handle from the table and strike"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode20.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dd8952f92aa19331474a8c2ee1bcf72abdc4bf1
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Pick the nail-driving hammer and smash the block",
+    "Use the right arm to grab the medium-sized metal hammer and beat block",
+    "Take the silver curved hammer head and beat the block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Lift the grippy handle hammer and hit the block.",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Take the nail-driving hammer and smash the block.",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Take the silver curved hammer head and beat the block",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "Grab the nail-driving hammer to beat the block.",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Grab the silver curved hammer head, then hit the block",
+    "Pick up the silver curved hammer head with the right arm, strike the block.",
+    "Grab the silver hammer using the right arm and hit the block",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Lift the plastic handle metal hammer and hit the block",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Use the right arm to take the silver hammer and strike",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Take the silver curved hammer head and hammer the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Grab the hammer for nails, then strike the block.",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Grab the yellow and black hammer grip using the right arm then pound block",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Grab the silver hammer, then hit the block",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Lift the grippy handle hammer and hit the block",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Grab the plastic handle metal hammer with the right arm and beat the block."
+  ],
+  "unseen": [
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode21.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..093ccda32b0b87585055607489bdc533e16bee16
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Lift the grippy handle hammer and hit the block",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Lift the silver curved hammer head and hit the block.",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Pick up the silver hammer using the left arm then beat",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Grab the hammer with two-tone handle with the left arm and hit block",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Lift the silver curved hammer head and hit the block.",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Pick up the silver curved hammer head and strike the block",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Take the nail-driving hammer and smash the block.",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Hold the hammer for nails and pound the block.",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Pick the nail-driving hammer and strike the block.",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Take the medium-sized metal hammer and beat the block"
+  ],
+  "unseen": [
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode22.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..b96439c8058df8bd557705c437078abe7fbee4c4
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the yellow and black hammer grip and strike the block",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Grab the silver hammer to beat the block.",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Pick the nail-driving hammer from the table and strike",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "Pick the silver curved hammer head and strike the block.",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Grab the silver hammer with the left arm and strike block",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Pick the silver hammer and smash the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Grab the hammer with two-tone handle using the left arm then pound block",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Take the silver hammer and strike the block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Lift the hammer for nails and hit the block.",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Pick up the silver curved hammer head and strike the block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Grab the hammer for nails to beat the block.",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Pick the silver curved hammer head from the table and strike",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Pick the silver hammer and strike the block.",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Grab the silver hammer with the left arm and hit block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Hold the silver hammer then hit the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Pick the nail-driving hammer and smash the block",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Use the nail-driving hammer to hammer the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block."
+  ],
+  "unseen": [
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with black handle."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode23.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..98ceca7f065c6c5d02312db6973a9da28b563103
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Lift the grippy handle hammer and hit the block.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Grab the silver curved hammer head to beat the block.",
+    "Grab the medium-sized metal hammer using the right arm and hit the block",
+    "Grab the silver hammer and use it to hit",
+    "Use the hammer for nails to hammer the block.",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Use the right arm to grab the medium-sized metal hammer and beat block",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Pick up the medium-sized metal hammer using the right arm then beat",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "Lift the silver hammer and hit the block.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Hold the silver hammer then hit the block",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Pick the hammer for nails and strike the block.",
+    "Grab the silver curved hammer head, then hit the block",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Take the nail-driving hammer and strike the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Take the handheld medium claw hammer and beat the block",
+    "Take the grippy handle hammer and hammer the block",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "Lift the silver curved hammer head using the right arm to hit the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Lift the plastic handle metal hammer and hit the block",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Lift the silver hammer with the right arm then strike block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Use the right arm to grab the hammer with claw-shaped end and beat block",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Pick the hammer for nails with the right arm and hit the block"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode24.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..57a90794b4cc89e2b0cc998a662fd7efa0ef8bb1
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Lift the nail-driving hammer with the right arm then strike block",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Hold the hammer for nails then hit the block",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Take the silver hammer and beat the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Lift the grippy handle hammer and hit the block.",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Grab the hammer for nails and use it to hit",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the yellow and black hammer grip with the right arm and beat the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Grab the grippy handle hammer to beat the block.",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "Pick the medium-sized metal hammer with the right arm and hit the block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Use the right arm to grab the hammer with claw-shaped end and beat block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Grab the black and yellow hammer grip using the right arm then pound block",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Take the nail-driving hammer and strike the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Grab the silver curved hammer head, then hit the block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Take the nail-driving hammer and smash the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Lift the grippy handle hammer and hit the block",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Pick the hammer with claw-shaped end from the table and strike"
+  ],
+  "unseen": [
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode25.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..a653b4a2f3aea33516c1ade5bb80b22f61404c1b
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Take the yellow and black hammer grip and strike the block",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Use the silver hammer to hammer the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Lift the nail-driving hammer and hit the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Take the hammer for nails and smash the block.",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Grab the nail-driving hammer to beat the block.",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Take the grippy handle hammer and strike the block",
+    "Employ the right arm to grab the grippy handle hammer and hit.",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Take the nail-driving hammer and beat the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Take the nail-driving hammer and beat the block",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Pick up the silver hammer using the right arm then beat",
+    "Grab the silver hammer using the right arm and strike the block",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Grab the black and yellow hammer grip using the right arm then pound block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "Take the yellow and black hammer grip and strike the block",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Lift the silver hammer, then beat the block.",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Pick up the silver curved hammer head and strike the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Grab the grippy handle hammer to beat the block.",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Take the silver hammer and strike the block",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Grab the plastic handle metal hammer with the right arm and beat the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Lift the hammer for nails and hit the block.",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Pick the silver hammer and strike the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Pick the silver curved hammer head from the table and strike"
+  ],
+  "unseen": [
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode26.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c99779bbb7feef4aa4cb0ad3246c5f715e9105c
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Lift the silver curved hammer head and hit the block",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Catch the hammer for nails and use it on the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Hold the nail-driving hammer then hit the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Take the silver hammer and hammer the block",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Pick the hammer for nails and smash the block",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Pick the silver curved hammer head and strike the block.",
+    "Grab the silver hammer with the left arm and strike block",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Grab the silver curved hammer head and use it to hit",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Pick the silver curved hammer head from the table and strike",
+    "Grab the hammer with two-tone handle using the left arm then pound block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Lift the hammer for nails, then beat the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Use the left arm to take the silver hammer and strike",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Pick the silver hammer with the left arm and hit the block",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Pick the hammer for nails and strike the block.",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Take the medium-sized metal hammer and beat the block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode27.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab04f4a535aebfdf8d8c956d5d55a826cf577d20
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Catch the hammer for nails and use it on the block.",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the silver hammer using the left arm then pound block",
+    "Beat the block after grabbing the silver hammer",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Grab the grippy handle hammer, then hit the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Lift the silver curved hammer head and hit the block",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Grab the hammer for nails to beat the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the silver hammer with the left arm and hit block",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Take the silver curved hammer head and beat the block",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Pick the hammer for nails from the table and strike",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Catch the nail-driving hammer and use it on the block.",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Hold the silver hammer then hit the block",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Pick up the hammer for nails and strike the block",
+    "Take the silver curved hammer head and strike the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Beat the block after grabbing the silver hammer",
+    "Pick up the silver hammer using the left arm then beat",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Grab the grippy handle hammer, then hit the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Take the grippy handle hammer and beat the block",
+    "Use the left arm to take the hammer for nails and strike",
+    "Pick the silver curved hammer head and strike the block.",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Pick the plastic handle metal hammer from the table and strike"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode28.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5b3de683de4b9af149408ccf75b6ab8d2078711
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Pick the plastic handle metal hammer with the right arm and hit the block",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Pick up the hammer for nails and strike the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Pick the nail-driving hammer and smash the block",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Hold the hammer for nails and pound the block.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Take the nail-driving hammer and beat the block",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Grab the black and yellow hammer grip using the right arm then pound block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Take the grippy handle hammer and strike the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Lift the silver hammer and hit the block.",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "Grab the nail-driving hammer to beat the block.",
+    "Use the right arm to take the silver hammer and strike",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Take the nail-driving hammer and hammer the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Pick the silver hammer with the right arm and hit the block",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Take the hammer for nails and beat the block",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Grab the silver hammer with the right arm and hit block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "Take the handheld medium claw hammer and beat the block",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Take the nail-driving hammer and smash the block.",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Pick up the silver hammer using the right arm then beat",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Take the nail-driving hammer and strike the block",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Hold the hammer for nails then hit the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Grab the silver hammer using the right arm, then beat the block"
+  ],
+  "unseen": [
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode29.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..acfc8ca0fdd218936c9bb4659b5e3f53d29a5642
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Lift the silver hammer and hit the block",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Catch the hammer for nails and use it on the block.",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Pick up the silver hammer and strike the block",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Take the hammer for nails and smash the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Lift the nail-driving hammer and hit the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Take the nail-driving hammer and beat the block",
+    "Employ the right arm to grab the black and yellow hammer grip and hit.",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Take the hammer for nails and strike the block",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Grab the silver curved hammer head to beat the block.",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Pick the silver hammer and smash the block",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Grab the grippy handle hammer and use it to hit",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Grab the silver curved hammer head using the right arm, then beat the block",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Pick up the silver hammer using the right arm then beat",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Pick the nail-driving hammer and strike the block.",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Take the silver hammer using the right arm, hit the block.",
+    "Catch the silver curved hammer head and use it on the block.",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Grab the plastic handle metal hammer with the right arm and beat the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Use the right arm to take the silver hammer and strike",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Employ the right arm to grab the plastic handle metal hammer and hit.",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Pick the hammer for nails and smash the block",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Pick up the medium-sized metal hammer with the right arm, strike the block.",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Pick the medium-sized metal hammer and strike the block."
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode3.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..da5eccb5d092f064568d5e8abc7d8738354d2f86
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "Hold the grippy handle hammer then hit the block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Use the right arm to take the silver hammer and strike",
+    "Take the plastic handle metal hammer and strike the block",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Take the hammer for nails and beat the block",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Take the hammer for nails and beat the block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Pick the silver curved hammer head and smash the block",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "Lift the grippy handle hammer and hit the block",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Hold the nail-driving hammer and pound the block.",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "Grab the grippy handle hammer, then hit the block",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Pick the silver curved hammer head from the table and strike",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "Pick the plastic handle metal hammer with the right arm and hit the block",
+    "Take the silver hammer and smash the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Take the medium-sized metal hammer and strike the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Employ the right arm to grab the plastic handle metal hammer and hit.",
+    "Lift the nail-driving hammer and hit the block",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Grab the yellow and black hammer grip with the right arm and beat the block.",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Pick the nail-driving hammer and strike the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Grab the silver curved hammer head using the right arm, then beat the block",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Take the hammer with two-tone handle and hammer the block"
+  ],
+  "unseen": [
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode30.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..b35690af4c4bea6a6d3b6ddd26e30268f6f875b0
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the plastic handle metal hammer then hit the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Grab the hammer for nails and use it to hit",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Take the black and yellow hammer grip and strike the block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Take the grippy handle hammer and beat the block",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Grab the silver curved hammer head, then hit the block",
+    "Lift the hammer for nails and hit the block",
+    "Lift the silver hammer, then beat the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Take the silver curved hammer head and beat the block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Take the silver hammer and strike the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Lift the silver hammer and hit the block.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Take the silver hammer and hammer the block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Grab the hammer with two-tone handle using the left arm then pound block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Use the hammer for nails to hammer the block.",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Use the left arm to grab the nail-driving hammer and beat",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Take the silver curved hammer head and beat the block",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Pick the silver curved hammer head and smash the block",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Grab the hammer for nails, then strike the block.",
+    "Grab the plastic handle metal hammer with the left arm and hit block"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode31.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f669cd65ca954b345d03b063c32cbf010b37d7c
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the grippy handle hammer and strike the block",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Pick the silver hammer with the left arm and hit the block",
+    "Pick the silver curved hammer head from the table and strike",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Take the hammer with two-tone handle and beat the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Grab the grippy handle hammer, then hit the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Take the silver hammer and smash the block.",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Pick the silver hammer and smash the block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Grab the silver hammer and use it to hit",
+    "Grab the silver curved hammer head to beat the block.",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Pick the silver hammer with the left arm and hit the block",
+    "Pick the hammer for nails from the table and strike",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Grab the silver hammer with the left arm and strike block",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Hold the grippy handle hammer and pound the block.",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Use the left arm to grab the silver hammer and beat",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Take the hammer for nails and beat the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Take the silver curved hammer head and strike the block",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Make the left arm grab the grippy handle hammer and strike the block."
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode32.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f4bdea7a9fea1d6eec052542ba922dafdef2e72
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Pick the plastic handle metal hammer with the right arm and hit the block",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Take the medium-sized metal hammer and beat the block",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Grab the grippy handle hammer to beat the block.",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Pick up the medium-sized metal hammer using the right arm then beat",
+    "Grab the hammer for nails, then hit the block",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Grab the silver hammer with the right arm and strike block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Take the silver hammer and strike the block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Hold the hammer for nails and pound the block.",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Lift the silver hammer and hit the block",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Use the hammer for nails to hammer the block.",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Use the right arm to grab the silver hammer and beat",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Take the yellow and black hammer grip and beat the block",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Grab the hammer for nails to beat the block.",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Hold the silver hammer then hit the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Lift the handheld medium claw hammer with the right arm then strike block",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Grab the silver hammer and use it to hit",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Grab the grippy handle hammer, then hit the block",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Pick up the hammer for nails and use it on the block",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Use the right arm to take the black and yellow hammer grip and strike"
+  ],
+  "unseen": [
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode33.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..4859f75929989ceaa34dbb66ecba448b8accba81
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the silver hammer firmly and hit the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Take the silver curved hammer head and strike the block",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Lift the silver hammer, then beat the block.",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "Pick the hammer for nails and strike the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Pick the hammer for nails and smash the block",
+    "Hold the grippy handle hammer and pound the block.",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Take the grippy handle hammer and hammer the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Catch the hammer for nails and use it on the block.",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Use the left arm to take the hammer for nails and strike",
+    "Use the silver curved hammer head to hammer the block.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Take the silver curved hammer head and beat the block",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Grab the hammer for nails to beat the block.",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Pick the silver curved hammer head from the table and strike",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Lift the hammer for nails and hit the block",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Grab the hammer with two-tone handle with the left arm and hit block",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Grab the silver curved hammer head, then hit the block",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Pick the hammer for nails and smash the block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Take the silver hammer and hammer the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Catch the silver hammer and use it on the block.",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Use the left arm to take the hammer for nails and strike",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Pick up the silver hammer and use it on the block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Take the hammer for nails and smash the block.",
+    "Pick the hammer for nails from the table and strike"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode34.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..51efe5bceff6b63f3568f163b3575600f0c4a871
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Take the hammer for nails and beat the block",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Take the silver curved hammer head and beat the block",
+    "Hold the grippy handle hammer and pound the block.",
+    "Grab the silver curved hammer head, then hit the block",
+    "Use the hammer for nails to hammer the block.",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Take the hammer for nails and smash the block.",
+    "Grab the silver hammer and use it to hit",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Pick up the silver curved hammer head and strike the block",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Grab the silver hammer using the left arm then pound block",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Lift the silver hammer and hit the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Grab the grippy handle hammer to beat the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "Take the silver hammer and strike the block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Pick the silver hammer with the left arm and hit the block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Pick up the silver hammer using the left arm then beat",
+    "Take the medium-sized metal hammer and beat the block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Use the left arm to take the hammer for nails and strike",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Hold the grippy handle hammer and pound the block.",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Catch the silver hammer and use it on the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Pick the yellow and black hammer grip and smash the block",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Lift the hammer for nails, then beat the block.",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "With the left arm, grab the nail-driving hammer and beat the block."
+  ],
+  "unseen": [
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode35.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..017a25b69a1df804693d3bdec2f58028c7dd9e0e
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the medium-sized metal hammer then hit the block",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Take the silver hammer using the right arm, hit the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Pick up the medium-sized metal hammer using the right arm then beat",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Employ the right arm to grab the black and yellow hammer grip and hit.",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Use the right arm to grab the medium-sized metal hammer and beat block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Take the hammer for nails and beat the block",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Take the silver hammer and beat the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Grab the medium-sized metal hammer with the right arm and hit the block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Grab the black and yellow hammer grip using the right arm then pound block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Catch the silver hammer and use it on the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Hold the silver hammer and pound the block.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Hold the silver hammer then hit the block",
+    "With the right arm, grab the hammer for nails and beat the block.",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Lift the hammer for nails and hit the block",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Pick up the medium-sized metal hammer with the right arm, strike the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Grab the silver hammer with the right arm and hit block",
+    "Pick the medium-sized metal hammer with the right arm and hit the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Lift the silver hammer, then beat the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Pick the silver hammer and strike the block.",
+    "Hold the nail-driving hammer and pound the block.",
+    "Take the hammer with two-tone handle and smash the block."
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode36.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..46259a4b63b61ab65ad2c9919e264436643a5d00
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick the hammer for nails and strike the block.",
+    "Hold the silver hammer then hit the block",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Grab the silver hammer with the left arm and strike block",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Take the hammer for nails and hammer the block",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Grab the silver hammer, then strike the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Grab the nail-driving hammer to beat the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Lift the grippy handle hammer and hit the block.",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "With the left arm, pick up the hammer with two-tone handle and strike the block.",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the hammer for nails and smash the block.",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Grab the silver curved hammer head, then hit the block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Grab the silver hammer to beat the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Take the silver curved hammer head and strike the block",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Pick up the hammer with claw-shaped end using the left arm then beat"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode37.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d29852e137e1e49a7e47349e2f12e9ca3604c2a
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Pick up the silver hammer using the right arm then beat",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Take the hammer for nails and hammer the block",
+    "Take the silver hammer and beat the block",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "Catch the hammer for nails and use it on the block.",
+    "Grab the yellow and black hammer grip with the right arm and beat the block.",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Lift the yellow and black hammer grip using the right arm to hit the block.",
+    "Lift the grippy handle hammer and hit the block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Pick up the silver curved hammer head and strike the block",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "Grab the hammer for nails, then hit the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Take the grippy handle hammer and strike the block",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Employ the right arm to grab the plastic handle metal hammer and hit.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Pick the silver hammer and strike the block.",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Take the nail-driving hammer and smash the block.",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Pick up the medium-sized metal hammer with the right arm, strike the block.",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Pick up the medium-sized metal hammer using the right arm then beat",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Grab the grippy handle hammer to beat the block.",
+    "Take the hammer for nails and beat the block",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Take the silver hammer and strike the block",
+    "Hold the silver hammer then hit the block",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Pick the nail-driving hammer and smash the block",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Hold the silver hammer and pound the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "Take the silver hammer and smash the block.",
+    "Use the right arm to grab the medium-sized metal hammer and beat",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Grip the hammer with claw-shaped end firmly and hit the block."
+  ],
+  "unseen": [
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode38.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d51d49a4445fee5dffffaf9f6cf1774e6cddbb7
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the silver curved hammer head from the table and strike",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Hold the hammer for nails and pound the block.",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "Grab the silver hammer and use it to hit",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Use the left arm to take the silver hammer and strike",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Take the plastic handle metal hammer and beat the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the grippy handle hammer and strike the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Pick the hammer for nails and smash the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Pick the silver curved hammer head from the table and strike",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Hold the grippy handle hammer and pound the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Grab the hammer for nails, then hit the block",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Pick up the nail-driving hammer and strike the block",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Grab the nail-driving hammer and use it to hit",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Use the left arm to take the silver hammer and strike",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Take the hammer with two-tone handle and beat the block",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Pick the hammer for nails and smash the block",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Lift the grippy handle hammer and hit the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Utilize the left arm to hold the silver hammer and strike."
+  ],
+  "unseen": [
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode39.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0a001a257036bdb9945d66167cc99fda8c11cce
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Take the hammer with two-tone handle and strike the block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Take the hammer for nails and beat the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Lift the grippy handle hammer and hit the block",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Lift the hammer for nails and hit the block.",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Grab the grippy handle hammer to beat the block.",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Take the silver hammer and beat the block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Take the medium-sized metal hammer and strike the block",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Take the black and yellow hammer grip and beat the block",
+    "Take the hammer for nails and strike the block",
+    "Pick the silver hammer with the left arm and hit the block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Lift the grippy handle hammer and hit the block",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Hold the hammer for nails then hit the block",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Use the left arm to take the silver hammer and strike",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Grab the hammer with two-tone handle using the left arm then pound block",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Lift the black and yellow hammer grip with the left arm then strike block"
+  ],
+  "unseen": [
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode4.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d1bffde786247b58290ae0757a56eb39da1a010
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the hammer for nails and strike the block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Take the nail-driving hammer and smash the block.",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Take the silver hammer and hammer the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Grab the silver hammer, then strike the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the nail-driving hammer and use it to hit",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Use the nail-driving hammer to hammer the block.",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Pick the grippy handle hammer and smash the block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Pick the silver hammer from the table and strike",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Hold the hammer for nails then hit the block",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Take the hammer for nails and smash the block.",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Lift the grippy handle hammer using the left arm to hit the block."
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode40.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1c0c26afe47740adaf9a210bff44b97ee0612a3
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Pick up the silver hammer using the right arm then beat",
+    "Pick up the hammer for nails and strike the block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Take the nail-driving hammer and beat the block",
+    "With the right arm, grab the hammer for nails and beat the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Grab the silver hammer using the right arm then pound block",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Take the silver hammer and smash the block.",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Take the hammer for nails and beat the block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Pick up the hammer for nails and strike the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Take the grippy handle hammer and beat the block",
+    "With the right arm, grab the plastic handle metal hammer and beat the block.",
+    "Hold the nail-driving hammer and pound the block.",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Grab the medium-sized metal hammer using the right arm and hit the block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Lift the nail-driving hammer with the right arm then strike block",
+    "Grab the hammer for nails and use it to hit",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Take the nail-driving hammer and smash the block.",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Take the nail-driving hammer and beat the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Pick the silver curved hammer head and smash the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Grab the yellow and black hammer grip with the right arm and beat the block.",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Use the hammer for nails to beat after grabbing with the right arm",
+    "Use the right arm to grab the silver hammer and beat"
+  ],
+  "unseen": [
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode41.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fc5d2d3801b6ac2cb6b190d358e067cdadc8ab1
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the grippy handle hammer and strike the block",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Grab the grippy handle hammer, then hit the block",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Employ the right arm to grab the plastic handle metal hammer and hit.",
+    "Lift the silver curved hammer head and hit the block",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Take the nail-driving hammer and beat the block",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Take the hammer for nails and strike the block",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Hold the hammer for nails then hit the block",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Grab the plastic handle metal hammer using the right arm then pound block",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Take the silver curved hammer head and smash the block.",
+    "Take the silver hammer and hammer the block",
+    "Pick the nail-driving hammer and smash the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Lift the grippy handle hammer and hit the block",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Pick the silver hammer and strike the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "With the right arm, grab the plastic handle metal hammer and hit the block",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Pick up the silver hammer and strike the block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Hold the hammer for nails then hit the block",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Grab the silver hammer using the right arm then pound block",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Pick the silver curved hammer head and smash the block"
+  ],
+  "unseen": [
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode42.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce211bded03bcffff10a1a204226fb54c26ce988
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic handle metal hammer and hit the block",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "With the right arm, grab the plastic handle metal hammer and hit the block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Use the hammer for nails to beat after grabbing with the right arm",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Grab the silver curved hammer head using the right arm, then beat the block",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Grab the silver hammer and use it to hit",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Use the right arm to take the hammer for nails and strike",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Pick the silver curved hammer head from the table and strike",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Take the silver curved hammer head and beat the block",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Lift the silver hammer and hit the block",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "Pick up the medium-sized metal hammer with the right arm, strike the block.",
+    "With the right arm, grab the plastic handle metal hammer and beat the block.",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Use the hammer for nails to hammer the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Grab the silver curved hammer head, then hit the block",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "Grab the silver hammer with the right arm and strike block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Lift the handheld medium claw hammer with the right arm then strike block",
+    "Pick the silver hammer from the table and strike",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Pick the hammer for nails and smash the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Pick the hammer for nails and strike the block.",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick up the silver hammer and strike the block",
+    "Hold the silver hammer then hit the block",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Lift the nail-driving hammer and hit the block.",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Grab the handheld medium claw hammer using the right arm and strike the block",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "Take the grippy handle hammer and beat the block",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Take the hammer with two-tone handle and strike the block"
+  ],
+  "unseen": [
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode43.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..5359fabb25339b1e8b6d1f6ca5ffee472716ecdd
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Grab the silver hammer using the right arm then pound block",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Use the right arm to take the hammer for nails and strike",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Grab the hammer for nails and use it to hit",
+    "Take the hammer for nails and hammer the block",
+    "Lift the silver hammer and hit the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Pick up the medium-sized metal hammer using the right arm then beat",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Lift the silver curved hammer head and hit the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Use the right arm to grab the medium-sized metal hammer and beat",
+    "Grab the nail-driving hammer to beat the block.",
+    "Lift the yellow and black hammer grip using the right arm to hit the block.",
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Take the medium-sized metal hammer and strike the block",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Take the hammer for nails and smash the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "With the right arm, grab the plastic handle metal hammer and hit the block",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Take the medium-sized metal hammer and strike the block",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Lift the nail-driving hammer with the right arm then strike block",
+    "Pick up the yellow and black hammer grip with the right arm, strike the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "With the right arm, grab the hammer for nails and hammer the block",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Lift the hammer for nails, then beat the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Use the right arm to grab the medium-sized metal hammer and beat",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Take the silver curved hammer head and strike the block",
+    "Employ the right arm to grab the grippy handle hammer and hit.",
+    "Use the right arm to grab the medium-sized metal hammer and beat block",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Grab the silver hammer, then hit the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Take the silver curved hammer head and strike the block",
+    "Hold the silver hammer then hit the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Lift the hammer with claw-shaped end with the right arm then strike block"
+  ],
+  "unseen": [
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode44.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..56c7e113170e1f1ba048459bd42f5dec6b9dc85a
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the hammer with two-tone handle and hammer the block",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Pick the medium-sized metal hammer with the right arm and hit the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Pick the silver hammer and strike the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "With the right arm, pick up the silver hammer and strike the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Take the hammer for nails and strike the block",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Pick the nail-driving hammer from the table and strike",
+    "Grab the hammer for nails to beat the block.",
+    "Hold the hammer for nails and pound the block.",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Beat the block after grabbing the silver hammer",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Hold the hammer for nails then hit the block",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Take the silver hammer and smash the block.",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Take the grippy handle hammer and hammer the block",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Pick the plastic handle metal hammer with the right arm and hit the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Lift the medium-sized metal hammer using the right arm to hit the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Pick the nail-driving hammer and strike the block.",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Pick up the silver curved hammer head and strike the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Pick the nail-driving hammer from the table and strike",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Take the hammer for nails and beat the block",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Take the silver hammer and strike the block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Use the right arm to take the silver hammer and strike",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Grab the hammer for nails, then strike the block.",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Take the hammer for nails and smash the block.",
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "Grab the hammer for nails, then hit the block",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Grab the black and yellow hammer grip with the right arm and strike block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode45.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..02067ee85512e87660a560a126e61ab3c85a3638
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Pick the nail-driving hammer and strike the block.",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Lift the hammer for nails and hit the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the silver hammer to beat the block.",
+    "With the right arm, grab the hammer for nails and hammer the block",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Grab the nail-driving hammer, then hit the block",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Grab the silver hammer using the right arm then pound block",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Lift the silver curved hammer head using the right arm to hit the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Use the right arm to grab the silver hammer and beat block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Take the silver curved hammer head and strike the block",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Lift the silver curved hammer head and hit the block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "With the right arm, grab the plastic handle metal hammer and beat the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Grab the silver hammer, then strike the block.",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Pick up the medium-sized metal hammer using the right arm, hammer the block.",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Grab the silver hammer using the right arm then pound block",
+    "Grab the yellow and black hammer grip with the right arm and beat the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Pick up the silver hammer and use it on the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "Pick up the medium-sized metal hammer using the right arm then beat",
+    "Pick up the grippy handle hammer and strike the block",
+    "Take the nail-driving hammer and strike the block",
+    "Take the medium-sized metal hammer using the right arm, hit the block."
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode46.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..f185d837dc7023f4a948cf670e28f520c980a4ae
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the grippy handle hammer from the table and strike",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Lift the hammer for nails and hit the block.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Take the hammer for nails and strike the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "With the left arm, pick up the hammer with two-tone handle and strike the block.",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Lift the silver hammer, then beat the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Employ the left arm to grab the yellow and black hammer grip and hit.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Take the hammer for nails and hammer the block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Pick up the silver hammer using the left arm then beat",
+    "Grab the grippy handle hammer to beat the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Grab the silver hammer and use it to hit",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Take the hammer with two-tone handle and smash the block.",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Take the grippy handle hammer and beat the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Employ the left arm to grab the yellow and black hammer grip and hit."
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode47.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbdb193506bb4199ec056c1f9fd3066801fc65db
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the silver curved hammer head and smash the block.",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Take the hammer for nails and strike the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Take the plastic handle metal hammer and beat the block",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Hold the hammer for nails then hit the block",
+    "Lift the hammer for nails and hit the block.",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Catch the grippy handle hammer and use it on the block.",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Take the silver hammer and strike the block",
+    "Grab the hammer for nails to beat the block.",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Take the silver curved hammer head and beat the block",
+    "Pick the silver hammer with the left arm and hit the block",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Pick the nail-driving hammer and smash the block",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Use the hammer for nails to hammer the block.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Lift the silver hammer and hit the block.",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Lift the nail-driving hammer and hit the block",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode48.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..70bc947377fffbe5f2405840407e20ab4c29d9da
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the hammer for nails and smash the block.",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Take the grippy handle hammer and hammer the block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Grab the silver hammer to beat the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Pick up the yellow and black hammer grip with the right arm, strike the block.",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Take the silver curved hammer head and beat the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Take the hammer with two-tone handle and strike the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Grab the hammer for nails and use it to hit",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "With the right arm, grab the plastic handle metal hammer and beat the block.",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Grab the yellow and black hammer grip using the right arm then pound block",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Use the right arm to grab the medium-sized metal hammer and beat",
+    "Take the nail-driving hammer and beat the block",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Use the right arm to take the silver hammer and strike",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Lift the silver hammer, then beat the block.",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Take the black and yellow hammer grip and beat the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Take the black and yellow hammer grip and strike the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Grab the silver curved hammer head and use it to hit",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "With the right arm, grab the hammer for nails and hammer the block",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Lift the grippy handle hammer and hit the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Grab the silver hammer with the right arm and strike block",
+    "Take the hammer for nails and strike the block",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Grab the silver hammer using the right arm and hit the block",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Pick the handheld medium claw hammer and smash the block"
+  ],
+  "unseen": [
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode49.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2d32cbfba4a38db8702509ac52c5c1f3278bfbd
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Use the left arm to take the silver curved hammer head and strike",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Grab the grippy handle hammer, then hit the block",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Hold the silver hammer then hit the block",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Take the silver hammer and smash the block.",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Take the silver curved hammer head and beat the block",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Lift the grippy handle hammer using the left arm to hit the block.",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Use the silver curved hammer head to hammer the block.",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Use the left arm to take the silver curved hammer head and strike",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Hold the silver hammer and pound the block.",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Take the silver curved hammer head and beat the block",
+    "With the left arm, grab the hammer for nails and hammer the block"
+  ],
+  "unseen": [
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode5.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..f23095272ac045f41328c4eb776c3405e1e0dcd2
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Lift the silver hammer and hit the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Lift the hammer for nails, then beat the block.",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Pick up the silver hammer and strike the block",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Take the nail-driving hammer and beat the block",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Lift the plastic handle metal hammer with the left arm then strike block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Pick the silver curved hammer head and smash the block",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Take the silver hammer and strike the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Use the left arm to take the silver hammer and strike",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Take the silver hammer and strike the block",
+    "Grab the hammer for nails to beat the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Grab the hammer for nails, then hit the block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Pick up the silver curved hammer head and strike the block",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Lift the silver curved hammer head and hit the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Lift the grippy handle hammer using the left arm to hit the block.",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Take the grippy handle hammer and strike the block",
+    "Take the silver curved hammer head and hammer the block",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Employ the left arm to grab the yellow and black hammer grip and hit."
+  ],
+  "unseen": [
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode6.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..e935ae64e8998c2317fedd625a7b0f32687ec9d5
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Grab the silver hammer, then hit the block",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Take the hammer for nails and beat the block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Pick up the medium-sized metal hammer with the right arm, strike the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "Grab the silver hammer to beat the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Take the hammer for nails and strike the block",
+    "Grab the hammer with claw-shaped end with the right arm and hit the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Pick up the silver curved hammer head and strike the block",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Catch the silver hammer and use it on the block.",
+    "Take the silver hammer and hammer the block",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Lift the silver curved hammer head and hit the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Take the hammer for nails and strike the block",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Take the nail-driving hammer using the right arm, hit the block.",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Grip the yellow and black hammer grip firmly and hit the block."
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode7.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd03a2c124d3c301645e5b26e654e79199052e05
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the grippy handle hammer and strike the block",
+    "Lift the grippy handle hammer and hit the block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Grab the silver hammer with the right arm and hit block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Take the silver curved hammer head and beat the block",
+    "Pick up the hammer for nails and use it on the block",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Lift the silver hammer with the right arm then strike block",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "Lift the silver hammer and hit the block.",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Use the silver curved hammer head to hammer the block.",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "Catch the silver hammer and use it on the block.",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Take the hammer for nails and smash the block.",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Pick up the hammer for nails and use it on the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "Lift the hammer for nails and hit the block.",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Grab the hammer for nails to beat the block.",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Pick up the medium-sized metal hammer with the right arm, strike the block.",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Grab the silver curved hammer head and use it to hit",
+    "Hold the grippy handle hammer and pound the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Make the right arm grab the medium-sized metal hammer and strike the block.",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "Take the silver hammer and smash the block.",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Hold the silver curved hammer head then hit the block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode8.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..b21cbd015590775384dbd810875e562fea744e39
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the silver hammer and use it to hit",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Lift the handheld medium claw hammer with the right arm then strike block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Take the grippy handle hammer and beat the block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Pick the plastic handle metal hammer with the right arm and hit the block",
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Pick the silver hammer and smash the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Grab the silver hammer to beat the block.",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Use the right arm to take the silver hammer and strike",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Use the hammer for nails to hammer the block.",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Lift the silver hammer and hit the block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Lift the handheld medium claw hammer with the right arm then strike block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Take the plastic handle metal hammer and beat the block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Take the silver hammer and strike the block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Grab the yellow and black hammer grip with the right arm and beat the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Hold the hammer for nails then hit the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "With the right arm, grab the plastic handle metal hammer and hit the block",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Grab the silver curved hammer head using the right arm, then beat the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Beat the block after grabbing the hammer for nails",
+    "Pick up the silver hammer using the right arm then beat",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Lift the yellow and black hammer grip and hit the block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode9.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9785a180b7d3676b23d3303fd75e720a60f906c
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Lift the nail-driving hammer and hit the block.",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Pick the hammer for nails and smash the block",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Grab the silver hammer using the left arm then pound block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Pick the nail-driving hammer and strike the block.",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Take the silver hammer and strike the block",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Take the hammer with two-tone handle and beat the block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Hold the grippy handle hammer and pound the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Grab the silver hammer, then hit the block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Pick the grippy handle hammer and smash the block",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Pick the silver curved hammer head from the table and strike",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Grab the grippy handle hammer to beat the block.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Use the left arm to take the silver hammer and strike",
+    "Take the silver hammer and beat the block",
+    "Take the hammer for nails and hammer the block",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Lift the silver hammer and hit the block",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Pick up the hammer for nails with the left arm, strike the block."
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/scene_info.json b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f8232243f614f165b37fb59004a8611d36fe662
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/aloha-agilex/meta/scene_info.json
@@ -0,0 +1,604 @@
+{
+  "episodes": [
+    {
+      "episode_id": 0,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "020_hammer/base0",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 1,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "020_hammer/base0",
+        "{a}": "right"
+      }
+    },
+    {
+      "episode_id": 2,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "020_hammer/base0",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 3,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "020_hammer/base0",
+        "{a}": "right"
+      }
+    },
+    {
+      "episode_id": 4,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "020_hammer/base0",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 5,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "020_hammer/base0",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 6,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "020_hammer/base0",
+        "{a}": "right"
+      }
+    },
+    {
+      "episode_id": 7,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "020_hammer/base0",
+        "{a}": "right"
+      }
+    },
+    {
+      "episode_id": 8,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "020_hammer/base0",
+        "{a}": "right"
+      }
+    },
+    {
+      "episode_id": 9,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "020_hammer/base0",
+        "{a}": "left"
+      }
+    },
+    {
+      "episode_id": 10,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "020_hammer/base0",
+        "{a}": "right"
+      }
+    },
+    {
+      "episode_id": 11,
+      "cluttered_table_info": [],
+      "texture_info": {
+        "wall_texture": null,
+        "table_texture": null
+      },
+      "info": {
+        "{A}": "020_hammer/base0",
+        "{a}": "right"
+      }
+    },
+    {
+      "episode_id": 12,
+      "cluttered_table_info": [],
+      "texture_info": {
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+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/data/episode9.hdf5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edde41726208f0e07c318609c7c5274ef9834fc7494c440e9ad6ad3458a8d9d1
+size 3423248
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/config.yml b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..f3fe0f185a1b74f4ab6322920c9cb51392f1fdb0
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/config.yml
@@ -0,0 +1,60 @@
+urdf_path: "./panda.urdf"
+srdf_path: "./panda.srdf"
+joint_stiffness: 1000
+joint_damping: 200
+gripper_stiffnes: 1000
+gripper_damping: 200
+move_group: ["panda_hand","panda_hand"]
+ee_joints: ["panda_hand_joint","panda_hand_joint"]
+arm_joints_name: [['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7'],
+                  ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7']]
+# gripper_name: [["panda_finger_joint1", "panda_finger_joint2"],
+#                ["panda_finger_joint1", "panda_finger_joint2"]]
+gripper_name:
+  - base: "panda_finger_joint1"
+    mimic: [["panda_finger_joint2", 1., 0.]]
+  - base: "panda_finger_joint1"
+    mimic: [["panda_finger_joint2", 1., 0.]]
+gripper_bias: 0.08
+gripper_scale: [-0.01, 0.05]
+homestate: [[0, 0.19634954084936207, 0.0, -2.617993877991494, 0.0, 2.941592653589793, 0.7853981633974483],
+            [0, 0.19634954084936207, 0.0, -2.617993877991494, 0.0, 2.941592653589793, 0.7853981633974483]]
+# homestate: [[6.661495e-07, 0.332, -1.868001e-06, -1.629, -5.300593e-06, 2.103, 0.7854044, 0.04, 0.04],
+#             [6.661495e-07, 0.332, -1.868001e-06, -1.629, -5.300593e-06, 2.103, 0.7854044, 0.04, 0.04]]
+delta_matrix: [[0,0,1],[0,-1,0],[1,0,0]]
+global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]]
+robot_pose: [[0, -0.65, 0.75, 0.707, 0, 0, 0.707],
+             [0, -0.65, 0.75, 0.707, 0, 0, 0.707]]   # modify
+# planner: "mplib_screw" # mplib_screw
+planner: "curobo"
+dual_arm: False
+rotate_lim: [0.1, 0.8]
+grasp_perfect_direction: ['right', 'left']
+static_camera_list: 
+- name: head_camera
+  position:
+  - -0.032
+  - -0.45
+  - 1.35
+  forward:
+  - 0
+  - 0.6
+  - -0.8
+  left:
+  - -1
+  - 0
+  - 0
+# - name: front_camera
+#   type: D435
+#   position:
+#   - 0
+#   - -0.45
+#   - 0.85
+#   forward:
+#   - 0
+#   - 1
+#   - -0.1
+#   left:
+#   - -1
+#   - 0
+#   - 0
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/info.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b55a99dd7686aeffa9f93e98e7b5c6b9c37f35e0
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/info.json
@@ -0,0 +1,64 @@
+{
+  "task": "beat_block_hammer",
+  "embodiment": "franka-panda",
+  "camera_views": [
+    "head_camera",
+    "left_camera",
+    "right_camera"
+  ],
+  "data_resolution": "320x240",
+  "num_episodes": 50,
+  "embodiment_config": {
+    "urdf": "panda.urdf",
+    "dual_arm": false,
+    "dis": 0.8,
+    "left_arm": [
+      "panda_joint1",
+      "panda_joint2",
+      "panda_joint3",
+      "panda_joint4",
+      "panda_joint5",
+      "panda_joint6",
+      "panda_joint7"
+    ],
+    "right_arm": [
+      "panda_joint1",
+      "panda_joint2",
+      "panda_joint3",
+      "panda_joint4",
+      "panda_joint5",
+      "panda_joint6",
+      "panda_joint7"
+    ],
+    "left_gripper": [
+      "panda_finger_joint1",
+      [
+        [
+          "panda_finger_joint2",
+          1.0,
+          0.0
+        ]
+      ]
+    ],
+    "right_gripper": [
+      "panda_finger_joint1",
+      [
+        [
+          "panda_finger_joint2",
+          1.0,
+          0.0
+        ]
+      ]
+    ],
+    "gripper_scale": [
+      -0.01,
+      0.05
+    ],
+    "grasp_axis": [
+      -1.0,
+      0.0,
+      0.0
+    ]
+  },
+  "source_renderer": "render/render_robotwin.py"
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode0.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..52d1b5e5af4b7cb3c14cb0df3d9d8fa5d119d724
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Hold the hammer for nails then hit the block",
+    "Take the grippy handle hammer and beat the block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Take the nail-driving hammer using the right arm, hit the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Catch the hammer for nails and use it on the block.",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "With the right arm, grab the plastic handle metal hammer and beat the block.",
+    "Use the grippy handle hammer to hammer the block.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Use the right arm to take the hammer with claw-shaped end and strike",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Pick up the silver hammer using the right arm then beat",
+    "Take the hammer for nails and beat the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Pick up the yellow and black hammer grip with the right arm, strike the block.",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Grab the silver hammer using the right arm then pound block",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Employ the right arm to grab the grippy handle hammer and hit.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Pick the silver hammer from the table and strike",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Lift the hammer for nails and hit the block",
+    "Pick up the hammer for nails and strike the block",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Lift the silver hammer and hit the block.",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "Take the medium-sized metal hammer and beat the block",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Take the grippy handle hammer and smash the block.",
+    "Grab the handheld medium claw hammer using the right arm and strike the block",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Grab the silver hammer with the right arm and strike block",
+    "Grab the silver hammer, then strike the block.",
+    "Grab the hammer with claw-shaped end with the right arm and hit block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode1.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..edbf5c6c5c6695524b598ac277f0b8b6be7f65b2
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Lift the nail-driving hammer and hit the block",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Take the silver hammer and beat the block",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Take the silver curved hammer head and strike the block",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Grab the silver hammer and use it to hit",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Grab the hammer for nails, then strike the block.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Take the nail-driving hammer and smash the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Take the grippy handle hammer and beat the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Lift the plastic handle metal hammer with the left arm then strike block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Grab the silver hammer with the left arm and hit block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode10.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..48d2dd4fef286ca5cd8c532ad341ce6c5b85c1fe
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Lift the silver hammer, then beat the block.",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Use the left arm to take the silver hammer and strike",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Grab the nail-driving hammer and use it to hit",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Pick the silver curved hammer head and strike the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Lift the hammer for nails and hit the block.",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Beat the block after grabbing the silver hammer",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Grab the silver hammer, then hit the block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Pick up the silver hammer and strike the block",
+    "Grip the hammer for nails firmly and hit the block.",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Lift the silver hammer with the left arm then strike block",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Take the silver hammer and smash the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Grab the silver curved hammer head and use it to hit",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Take the hammer for nails and beat the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "With the left arm, grab the handheld medium claw hammer and beat the block."
+  ],
+  "unseen": [
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode11.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..b038aac8bcb123810bcd5cfeeb394ac14a427a53
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Take the nail-driving hammer and beat the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Grab the silver hammer, then hit the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Pick the silver curved hammer head and smash the block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Grab the hammer for nails to beat the block.",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Grab the silver curved hammer head and use it to hit",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Lift the silver curved hammer head and hit the block.",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Take the nail-driving hammer and beat the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Take the silver hammer and hammer the block",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Pick the grippy handle hammer and smash the block",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Hold the silver curved hammer head and pound the block.",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grab the silver hammer using the left arm then pound block",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Lift the hammer for nails and hit the block",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Beat the block after grabbing the silver hammer",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Lift the silver curved hammer head and hit the block."
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode12.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..56bcf6178abc5d928782d5fa9b5082d6d6d4130c
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the silver curved hammer head and strike the block",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Grab the silver hammer and use it to hit",
+    "Take the nail-driving hammer and beat the block",
+    "Hold the silver hammer and pound the block.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Take the silver hammer and beat the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Lift the grippy handle hammer and hit the block",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Take the grippy handle hammer and hammer the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Take the grippy handle hammer and strike the block",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Lift the silver hammer and hit the block.",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Take the hammer for nails and beat the block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Take the nail-driving hammer using the right arm, hit the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Grab the hammer for nails, then strike the block.",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "With the right arm, grab the plastic handle metal hammer and hit the block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "Hold the grippy handle hammer then hit the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Take the grippy handle hammer and strike the block",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Grab the silver hammer, then hit the block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block."
+  ],
+  "unseen": [
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode13.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..55ba8d62a122f89c481efbec0c58ce44bba0f390
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the grippy handle hammer and strike the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Grab the silver hammer using the right arm and hit the block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "Take the hammer for nails and strike the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Employ the right arm to grab the grippy handle hammer and hit.",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Beat the block after grabbing the hammer for nails",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Pick up the hammer for nails and strike the block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Pick the silver hammer and strike the block.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Grab the hammer for nails, then hit the block",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Lift the nail-driving hammer and hit the block.",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Take the silver hammer and beat the block",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Grab the plastic handle metal hammer using the right arm then pound block",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Utilize the right arm to hold the grippy handle hammer and strike.",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "Grab the hammer with claw-shaped end with the right arm and hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Take the hammer for nails and strike the block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Take the plastic handle metal hammer and hammer the block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode14.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d1dae6c7a12289c05f2cbccb789194d5079b165
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "Grab the silver hammer and use it to hit",
+    "Pick the nail-driving hammer from the table and strike",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Use the right arm to take the hammer with claw-shaped end and strike",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Use the right arm to grab the medium-sized metal hammer and beat",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Pick up the hammer for nails and use it on the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Lift the silver curved hammer head using the right arm to hit the block.",
+    "Take the silver hammer and beat the block",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Take the nail-driving hammer using the right arm, hit the block.",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Hold the grippy handle hammer then hit the block",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Grab the hammer for nails, then strike the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Grab the plastic handle metal hammer with the right arm and beat the block.",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Take the silver curved hammer head and beat the block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "Take the nail-driving hammer and strike the block",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Take the grippy handle hammer and strike the block",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Grab the silver hammer to beat the block.",
+    "Take the silver hammer and hammer the block",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Pick the silver hammer and smash the block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Take the silver hammer using the right arm, hit the block.",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Make the right arm grab the nail-driving hammer and strike the block."
+  ],
+  "unseen": [
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode15.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..4199e1be02758ced719fe9fdcede4aee9912854a
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Use the left arm to take the silver hammer and strike",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Hold the nail-driving hammer then hit the block",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Grab the hammer for nails, then hit the block",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Take the silver hammer and strike the block",
+    "Pick the nail-driving hammer and smash the block",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Use the left arm to take the silver hammer and strike",
+    "Pick up the silver hammer using the left arm then beat",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Take the yellow and black hammer grip and hammer the block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Catch the silver hammer and use it on the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Take the hammer for nails and smash the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Lift the nail-driving hammer with the left arm then strike block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode16.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..47c74b7e70699aad1b70541aa73625a3130c6f49
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Take the silver curved hammer head and strike the block",
+    "Use the right arm to grab the silver hammer and beat",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Pick the silver hammer and smash the block",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Hold the silver curved hammer head and pound the block.",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "With the right arm, grab the hammer for nails and beat the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Grab the silver curved hammer head and use it to hit",
+    "Take the plastic handle metal hammer and beat the block",
+    "Hold the grippy handle hammer then hit the block",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Take the silver curved hammer head and hammer the block",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Grab the black and yellow hammer grip using the right arm then pound block",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Take the hammer for nails and smash the block.",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Lift the silver curved hammer head and hit the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Pick the nail-driving hammer and smash the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Hold the hammer for nails then hit the block",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the hammer for nails, then hit the block",
+    "Take the grippy handle hammer and strike the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Make the right arm grab the silver hammer and strike the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Grab the silver hammer with the right arm and strike block",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Lift the nail-driving hammer and hit the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Pick the medium-sized metal hammer from the table and strike"
+  ],
+  "unseen": [
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode17.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..39bd893de5f0dbb0fcb1a33a9f149e24e4248509
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Pick the hammer for nails and strike the block.",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Lift the black and yellow hammer grip and hit the block",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Pick the silver hammer and smash the block",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Take the silver hammer and hammer the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Hold the silver hammer then hit the block",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Grab the silver hammer to beat the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Take the hammer for nails and strike the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick the medium-sized metal hammer with the right arm and hit the block",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Lift the silver curved hammer head using the right arm to hit the block.",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Lift the silver hammer with the right arm then strike block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Pick up the silver hammer using the right arm then beat",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Employ the right arm to grab the plastic handle metal hammer and hit.",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "Hold the nail-driving hammer then hit the block",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Take the silver curved hammer head and smash the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Take the silver curved hammer head and strike the block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "Take the grippy handle hammer and beat the block",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Grab the handheld medium claw hammer with the right arm and hit the block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode18.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b7210c13a84bc7b232ddcde079c3552af94c30
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Take the grippy handle hammer and beat the block",
+    "Hold the silver hammer then hit the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the hammer for nails, then strike the block.",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Take the silver curved hammer head and smash the block.",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Hold the hammer for nails then hit the block",
+    "Lift the grippy handle hammer and hit the block.",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Use the left arm to take the silver curved hammer head and strike",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Beat the block after grabbing the silver hammer",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Pick the silver hammer from the table and strike",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "Use the left arm to grab the nail-driving hammer and beat",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Pick the hammer for nails and smash the block",
+    "Pick up the silver hammer using the left arm, hammer the block."
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode19.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..d12eae31c4edabbfc37a0ae61a8966d9fcc5d863
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the silver hammer and use it to hit",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Lift the silver hammer and hit the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Take the hammer for nails and strike the block",
+    "Hold the silver curved hammer head then hit the block",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Grab the hammer with two-tone handle using the left arm then pound block",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Use the left arm to take the silver hammer and strike",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Grab the silver hammer with the left arm and hit block",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Hold the silver hammer and pound the block.",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Pick the grippy handle hammer and smash the block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Take the nail-driving hammer and smash the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grab the hammer for nails and use it to hit",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Grab the silver hammer to beat the block.",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Take the nail-driving hammer and strike the block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Hold the nail-driving hammer and pound the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Beat the block after grabbing the silver hammer",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Pick the grippy handle hammer and smash the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Take the silver hammer and smash the block.",
+    "Take the hammer with claw-shaped end and beat the block"
+  ],
+  "unseen": [
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode2.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2d3d58fed13603524adabe445f538e05c19a73d
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the silver curved hammer head and use it on the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Grab the silver hammer to beat the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Hold the nail-driving hammer then hit the block",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Take the nail-driving hammer and strike the block",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "Take the silver curved hammer head and hammer the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Pick the grippy handle hammer and smash the block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Take the silver hammer and strike the block",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Lift the grippy handle hammer and hit the block.",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Grab the silver hammer, then strike the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Grab the silver hammer to beat the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Hold the grippy handle hammer then hit the block",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Grab the silver curved hammer head and use it to hit",
+    "Grab the hammer for nails, then hit the block",
+    "Take the nail-driving hammer and strike the block",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Take the nail-driving hammer and smash the block.",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Take the hammer for nails and beat the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Lift the plastic handle metal hammer and hit the block."
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode20.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..6635ef622ef9a52a1ca9d591951daecb684ee98e
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Take the plastic handle metal hammer and strike the block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Take the silver hammer and hammer the block",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Take the hammer for nails and strike the block",
+    "Lift the silver hammer and hit the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Lift the silver hammer, then beat the block.",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Grab the hammer with two-tone handle using the left arm then pound block",
+    "Pick the silver hammer from the table and strike",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Use the left arm to take the silver hammer and strike",
+    "Lift the silver hammer with the left arm then strike block",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Grab the silver hammer with the left arm and strike block",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Pick up the silver curved hammer head and strike the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Pick up the silver hammer and use it on the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Use the left arm to grab the silver hammer and beat",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Hold the hammer for nails then hit the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Take the nail-driving hammer and smash the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Take the silver hammer and strike the block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Take the hammer for nails and hammer the block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Lift the silver hammer and hit the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Use the hammer for nails to hammer the block.",
+    "Grab the hammer for nails, then hit the block",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Grab the plastic handle metal hammer with the left arm and strike block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode21.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0cab4320de215d61fb3ca71c61ddc1c6ff23a3a
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "Pick the nail-driving hammer and smash the block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Take the grippy handle hammer and strike the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Take the silver hammer and beat the block",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Beat the block after grabbing the hammer for nails",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Grab the silver hammer with the right arm and strike block",
+    "Lift the silver hammer, then beat the block.",
+    "Grab the silver hammer, then strike the block.",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Employ the right arm to grab the plastic handle metal hammer and hit.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "Take the grippy handle hammer and beat the block",
+    "Catch the silver hammer and use it on the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Take the nail-driving hammer and smash the block.",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Use the right arm to grab the medium-sized metal hammer and beat block",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Grab the medium-sized metal hammer using the right arm and hit the block",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Pick the silver hammer and smash the block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Take the silver curved hammer head and strike the block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Grab the nail-driving hammer and use it to hit",
+    "Take the silver hammer using the right arm, hit the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "Lift the nail-driving hammer with the right arm then strike block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Grab the plastic handle metal hammer with the right arm and beat the block.",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Employ the right arm to grab the black and yellow hammer grip and hit.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Catch the silver hammer and use it on the block.",
+    "Grab the grippy handle hammer, then hit the block"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode22.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..b518ca11ebe4f15510d18843825773405149d2cb
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Take the hammer for nails and beat the block",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Lift the silver hammer, then beat the block.",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Take the silver curved hammer head and beat the block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Lift the hammer for nails and hit the block",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "Hold the silver hammer and pound the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Pick up the silver hammer and use it on the block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Grab the silver hammer using the left arm then pound block",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Pick the nail-driving hammer from the table and strike",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Take the nail-driving hammer and beat the block",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Lift the silver curved hammer head and hit the block",
+    "Pick up the silver hammer using the left arm then beat",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Take the hammer for nails and strike the block"
+  ],
+  "unseen": [
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode23.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..7be0cec6672e00c4fd9e0051aa4dc4bf1da5db01
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Pick up the silver curved hammer head and strike the block",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Employ the right arm to grab the black and yellow hammer grip and hit.",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Grab the silver hammer using the right arm then pound block",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Hold the hammer for nails and pound the block.",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Pick the grippy handle hammer and smash the block",
+    "Pick the nail-driving hammer from the table and strike",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Use the right arm to grab the silver hammer and beat",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Grab the silver curved hammer head to beat the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Pick the medium-sized metal hammer with the right arm and hit the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Lift the hammer for nails, then beat the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Lift the silver hammer with the right arm then strike block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Grab the plastic handle metal hammer with the right arm and beat the block.",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Make the right arm grab the silver hammer and strike the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Lift the hammer for nails and hit the block.",
+    "Use the right arm to take the hammer for nails and strike",
+    "Use the hammer for nails to beat after grabbing with the right arm",
+    "Lift the hammer for nails and hit the block",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Hold the hammer for nails and pound the block.",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "With the right arm, grab the hammer for nails and beat the block.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Take the hammer for nails and beat the block",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the yellow and black hammer grip with the right arm and beat the block."
+  ],
+  "unseen": [
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode24.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0a76e1fce33bd6eb9764db7ea6601da045d9069
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Take the medium-sized metal hammer and beat the block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Lift the hammer for nails and hit the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Pick the silver hammer and strike the block.",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Take the black and yellow hammer grip and strike the block",
+    "Hold the hammer for nails then hit the block",
+    "Pick the silver hammer and smash the block",
+    "Take the grippy handle hammer and beat the block",
+    "Lift the silver hammer with the left arm then strike block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Lift the hammer for nails, then beat the block.",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Grab the silver hammer with the left arm and hit the block",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Lift the hammer for nails and hit the block.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Take the silver curved hammer head and hammer the block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Take the plastic handle metal hammer and beat the block",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Take the handheld medium claw hammer and strike the block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Take the hammer for nails and beat the block",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Take the silver hammer and strike the block",
+    "Lift the grippy handle hammer using the left arm to hit the block.",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Pick up the silver curved hammer head and strike the block",
+    "With the left arm, grab the nail-driving hammer and beat the block."
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode25.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..239129d0b4097ccdd0ec887e939323877c7e2003
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the yellow and black hammer grip with the right arm and beat the block.",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick up the silver hammer using the right arm then beat",
+    "Hold the silver hammer and pound the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "With the right arm, grab the plastic handle metal hammer and beat the block.",
+    "Take the hammer for nails and smash the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Lift the hammer for nails, then beat the block.",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Make the right arm grab the medium-sized metal hammer and strike the block.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Employ the right arm to grab the grippy handle hammer and hit.",
+    "Grab the silver hammer using the right arm and hit the block",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Pick up the medium-sized metal hammer using the right arm, hammer the block.",
+    "Lift the silver curved hammer head using the right arm to hit the block.",
+    "Pick the silver hammer from the table and strike",
+    "Lift the handheld medium claw hammer with the right arm then strike block",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Grab the silver hammer and use it to hit",
+    "Pick up the nail-driving hammer and strike the block",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Hold the hammer for nails then hit the block",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "Take the silver curved hammer head and hammer the block",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Hold the hammer for nails and pound the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the silver hammer using the right arm then pound block",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Lift the grippy handle hammer and hit the block",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Take the nail-driving hammer and smash the block.",
+    "Grab the grippy handle hammer, then hit the block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "Grab the silver hammer with the right arm and hit the block",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "Take the silver curved hammer head and strike the block",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Take the hammer with two-tone handle and hammer the block"
+  ],
+  "unseen": [
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode26.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..3118d85594e4297892c2428ad19e77dd42f5c1e7
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Lift the silver hammer and hit the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Hold the silver hammer then hit the block",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Take the silver hammer and beat the block",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Lift the grippy handle hammer and hit the block.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Catch the hammer for nails and use it on the block.",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Lift the grippy handle hammer using the left arm to hit the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Grab the silver hammer, then hit the block",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Pick up the silver curved hammer head and strike the block",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Use the left arm to take the hammer for nails and strike",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the hammer for nails and use it to hit",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Grab the silver hammer with the left arm and strike block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Catch the silver hammer and use it on the block.",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block."
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode27.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..66c9ff10492ad8cbe88abbaa964e9288065d87ae
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the plastic handle metal hammer and smash the block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Take the silver hammer and smash the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Use the right arm to take the silver hammer and strike",
+    "Grab the silver curved hammer head and use it to hit",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Employ the right arm to grab the grippy handle hammer and hit.",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Grab the silver hammer using the right arm then pound block",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Use the right arm to grab the medium-sized metal hammer and beat block",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Pick the grippy handle hammer and smash the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Take the hammer for nails and smash the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Lift the nail-driving hammer with the right arm then strike block",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "Take the hammer for nails and beat the block",
+    "Grab the silver hammer with the right arm and hit block",
+    "With the right arm, pick up the silver hammer and strike the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Grab the hammer for nails, then strike the block.",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Utilize the right arm to hold the grippy handle hammer and strike.",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Hold the hammer for nails and pound the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "With the right arm, grab the plastic handle metal hammer and hit the block",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Grab the hammer with claw-shaped end with the right arm and hit the block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Take the silver hammer and strike the block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode28.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..645e6e26c438a44a4f9aa15273f4fd8c316f8210
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "Take the silver curved hammer head and smash the block.",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Pick the grippy handle hammer and smash the block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Use the silver curved hammer head to hammer the block.",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Pick the hammer for nails and strike the block.",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Hold the grippy handle hammer and pound the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the hammer for nails to beat the block.",
+    "Pick up the silver hammer using the left arm then beat",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Lift the silver hammer and hit the block",
+    "Use the left arm to take the silver hammer and strike",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Take the silver curved hammer head and hammer the block",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "Beat the block after grabbing the silver hammer",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Use the silver curved hammer head to hammer the block.",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Take the silver hammer and beat the block",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Take the grippy handle hammer and beat the block",
+    "Take the silver hammer and strike the block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Take the hammer for nails and strike the block",
+    "Grab the silver hammer to beat the block.",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Hold the plastic handle metal hammer then hit the block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode29.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..caa9417f8cad463034eb3ec74d487043c41c5541
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Pick the hammer for nails from the table and strike",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Lift the silver hammer, then beat the block.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Lift the hammer for nails and hit the block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Take the grippy handle hammer and smash the block.",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Grab the grippy handle hammer to beat the block.",
+    "Pick the silver hammer with the left arm and hit the block",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Pick up the silver hammer and strike the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Lift the silver hammer, then beat the block.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "Take the hammer for nails and strike the block",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Pick the silver hammer with the left arm and hit the block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Use the hammer for nails to hammer the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Pick up the hammer with claw-shaped end and use it on the block"
+  ],
+  "unseen": [
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode3.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..202bc8a84b56b55b66da91bc09a2711c612b540e
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the nail-driving hammer and hammer the block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Take the nail-driving hammer and smash the block.",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Beat the block after grabbing the hammer for nails",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the silver hammer using the left arm then pound block",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Hold the silver hammer then hit the block",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Pick the grippy handle hammer and smash the block",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Lift the hammer for nails and hit the block",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Pick the silver hammer from the table and strike",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "Take the grippy handle hammer and strike the block",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Lift the hammer for nails, then beat the block.",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Hold the yellow and black hammer grip then hit the block",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "Use the left arm to grab the silver hammer and beat",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "Pick the grippy handle hammer and smash the block",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Lift the nail-driving hammer and hit the block",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Take the hammer for nails and beat the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "Use the left arm to take the silver hammer and strike",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Use the hammer for nails to hammer the block.",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Pick up the black and yellow hammer grip using the left arm then beat"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode30.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2dfa0dc0a81adfb520e25e5cc6c4639f587d6a7
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Use the left arm to grab the silver hammer and beat",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "Hold the silver curved hammer head and pound the block.",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Grab the grippy handle hammer, then hit the block",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Lift the plastic handle metal hammer with the left arm then strike block",
+    "Lift the silver curved hammer head and hit the block",
+    "Grab the hammer with two-tone handle using the left arm then pound block",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Grab the nail-driving hammer to beat the block.",
+    "Grab the silver hammer and use it to hit",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick the silver curved hammer head from the table and strike",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Pick the grippy handle hammer and smash the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Hold the silver curved hammer head and pound the block.",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Grab the silver hammer using the left arm then pound block",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Take the nail-driving hammer and beat the block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Take the silver curved hammer head and smash the block.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Pick the hammer for nails and smash the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Beat the block after grabbing the nail-driving hammer"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode31.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..b267922b63530a7bfc9e58d275b2925f425d1092
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the grippy handle hammer and strike the block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Take the silver hammer and smash the block.",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Grab the hammer for nails and use it to hit",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Pick up the silver hammer and strike the block",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Take the nail-driving hammer and strike the block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Lift the silver hammer, then beat the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Take the silver curved hammer head and strike the block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "Pick up the nail-driving hammer and strike the block",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Lift the silver hammer with the left arm then strike block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Grab the silver hammer using the left arm and strike the block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode32.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b321d2e8e3a49b923687d6ad8e5d6c872434d5b
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Take the hammer for nails and strike the block",
+    "Take the silver curved hammer head and strike the block",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Employ the left arm to grab the yellow and black hammer grip and hit.",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Pick up the hammer for nails and strike the block",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Lift the silver hammer and hit the block.",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Pick the silver curved hammer head from the table and strike",
+    "Pick the silver hammer and strike the block.",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Use the left arm to take the hammer for nails and strike",
+    "Take the hammer for nails and beat the block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Grab the silver hammer using the left arm then pound block",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Hold the silver hammer then hit the block",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Take the silver hammer and strike the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Pick up the silver curved hammer head and strike the block",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Pick the silver hammer and strike the block.",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Take the silver curved hammer head and hammer the block",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Take the yellow and black hammer grip and beat the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Use the hammer for nails to hammer the block.",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Grab the grippy handle hammer and use it to hit",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Take the silver curved hammer head and beat the block",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Hold the hammer for nails and pound the block.",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike."
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode33.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..93e36f4464217d09a47170caef8baf851ab275dc
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Grab the nail-driving hammer, then hit the block",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Use the right arm to take the hammer for nails and strike",
+    "Grip the silver hammer firmly and hit the block.",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Pick the hammer for nails and strike the block.",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Take the silver hammer and beat the block",
+    "Lift the nail-driving hammer and hit the block.",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "Grab the medium-sized metal hammer using the right arm and hit the block",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Grab the hammer for nails using the right arm then pound block",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Lift the silver hammer with the right arm then strike block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Lift the silver hammer, then beat the block.",
+    "Grab the yellow and black hammer grip with the right arm and beat the block.",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Take the silver curved hammer head and smash the block.",
+    "Lift the silver curved hammer head using the right arm to hit the block.",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Take the silver hammer and strike the block",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Pick up the hammer for nails and strike the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Grab the silver curved hammer head to beat the block.",
+    "Use the right arm to take the hammer for nails and strike",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Pick the hammer for nails and strike the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Take the silver curved hammer head and beat the block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Make the right arm grab the medium-sized metal hammer and strike the block.",
+    "Grab the yellow and black hammer grip using the right arm then pound block",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Take the hammer for nails and strike the block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Use the right arm to grab the medium-sized metal hammer and beat",
+    "Pick the hammer for nails and smash the block",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Take the hammer for nails and strike the block",
+    "With the right arm, grab the plastic handle metal hammer and beat the block.",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "With the right arm, pick up the silver hammer and strike the block.",
+    "Take the silver hammer and beat the block",
+    "Pick up the silver hammer and strike the block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Grab the plastic handle metal hammer using the right arm and strike the block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode34.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..41f9545b0156216c1647f997d073fd778d3881c2
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Take the silver hammer and strike the block",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Lift the plastic handle metal hammer with the left arm then strike block",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Grab the silver hammer with the left arm and strike block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Hold the silver hammer and pound the block.",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Pick the hammer for nails and smash the block",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Take the grippy handle hammer and smash the block.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Take the yellow and black hammer grip and strike the block",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Pick up the hammer for nails and use it on the block",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Take the grippy handle hammer and strike the block",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Lift the hammer for nails and hit the block",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Take the hammer for nails and beat the block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Grab the silver curved hammer head to beat the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Take the grippy handle hammer and smash the block.",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Take the medium-sized metal hammer and strike the block",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Pick up the hammer with two-tone handle and use it on the block"
+  ],
+  "unseen": [
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode35.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..7149b3ce50aec0fb7766b4f59aefe1195ad3a549
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Pick the silver hammer and smash the block",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Grab the silver hammer and use it to hit",
+    "Grab the grippy handle hammer, then hit the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Use the left arm to grab the silver hammer and beat",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Grab the silver hammer to beat the block.",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Take the hammer for nails and smash the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Take the nail-driving hammer and strike the block",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Lift the silver curved hammer head and hit the block",
+    "Use the left arm to take the silver hammer and strike",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Lift the nail-driving hammer and hit the block.",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Hold the silver curved hammer head then hit the block",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Pick up the silver hammer using the left arm then beat",
+    "Pick the silver curved hammer head and smash the block",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Use the hammer for nails to hammer the block.",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Take the silver hammer and hammer the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Hold the silver hammer and pound the block.",
+    "Take the silver curved hammer head and smash the block.",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Take the silver hammer and strike the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Take the hammer for nails and beat the block",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Catch the silver hammer and use it on the block.",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Hold the medium-sized metal hammer then hit the block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode36.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..2319b509b6f25ff5864452ff6445bdd00bf3e645
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Lift the hammer for nails and hit the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Pick up the silver curved hammer head and strike the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Hold the hammer for nails and pound the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Take the nail-driving hammer and strike the block",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Pick the hammer for nails from the table and strike",
+    "Pick up the hammer for nails and use it on the block",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Take the hammer for nails and beat the block",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Lift the grippy handle hammer using the left arm to hit the block.",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Grab the silver curved hammer head to beat the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Lift the nail-driving hammer and hit the block.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Use the silver hammer to hammer the block.",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Take the grippy handle hammer and strike the block",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Pick the silver hammer from the table and strike",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "Hold the hammer with two-tone handle then hit the block"
+  ],
+  "unseen": [
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode37.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..02b5eae1e02eee81247970af7303779a80c514fd
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the hammer with two-tone handle and strike the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Pick up the hammer for nails and strike the block",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Grab the silver curved hammer head to beat the block.",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Take the hammer for nails and smash the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Lift the silver hammer, then beat the block.",
+    "Use the hammer for nails to hammer the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "With the right arm, grab the hammer for nails and hammer the block",
+    "Grab the silver hammer and use it to hit",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Pick up the yellow and black hammer grip with the right arm, strike the block.",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "With the right arm, grab the plastic handle metal hammer and beat the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Take the nail-driving hammer and beat the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Pick up the silver curved hammer head and strike the block",
+    "Grab the hammer with claw-shaped end with the right arm and hit the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Pick the plastic handle metal hammer with the right arm and hit the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Take the hammer for nails and smash the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Use the medium-sized metal hammer to hammer the block."
+  ],
+  "unseen": [
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode38.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4b36c12e038d89bb9fb1280b509d07a1130719b
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the yellow and black hammer grip and strike the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Employ the right arm to grab the plastic handle metal hammer and hit.",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Hold the hammer for nails then hit the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Grab the plastic handle metal hammer with the right arm and beat the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Hold the nail-driving hammer and pound the block.",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Lift the silver hammer with the right arm then strike block",
+    "Beat the block after grabbing the hammer for nails",
+    "Grab the hammer for nails, then strike the block.",
+    "Lift the hammer for nails, then beat the block.",
+    "Pick up the medium-sized metal hammer with the right arm, strike the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "Grab the silver hammer and use it to hit",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "With the right arm, pick up the silver hammer and strike the block.",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Grab the nail-driving hammer, then hit the block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Grab the yellow and black hammer grip using the right arm then pound block",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Pick up the medium-sized metal hammer using the right arm, hammer the block.",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Beat the block after grabbing the hammer for nails",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Pick up the yellow and black hammer grip with the right arm, strike the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Grab the medium-sized metal hammer with the right arm and hit the block",
+    "Lift the grippy handle hammer and hit the block",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "With the right arm, pick up the silver hammer and strike the block.",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Pick the silver curved hammer head from the table and strike",
+    "Take the hammer for nails and smash the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Grip the handheld medium claw hammer firmly and hit the block."
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode39.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dd7fce5d718aa12143750e70918e825dd423342
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Pick the yellow and black hammer grip and smash the block",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Use the grippy handle hammer to hammer the block.",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Hold the hammer for nails and pound the block.",
+    "Grab the hammer for nails, then strike the block.",
+    "Take the hammer for nails and beat the block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Take the grippy handle hammer and strike the block",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "Hold the silver curved hammer head then hit the block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Grab the silver curved hammer head using the right arm, then beat the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Pick the hammer for nails from the table and strike",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Take the silver hammer using the right arm, hit the block.",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Grab the silver hammer, then strike the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Lift the nail-driving hammer and hit the block.",
+    "Grab the plastic handle metal hammer using the right arm then pound block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "Hold the nail-driving hammer then hit the block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Grab the nail-driving hammer and use it to hit",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Grab the nail-driving hammer to beat the block.",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Make the right arm grab the silver hammer and strike the block.",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Grab the grippy handle hammer, then hit the block"
+  ],
+  "unseen": [
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode4.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8f83622de833920de03a15dbf29a8fbce38ac1f
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "Beat the block after grabbing the silver hammer",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Take the hammer for nails and hammer the block",
+    "Pick up the silver curved hammer head with the right arm, strike the block.",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Lift the silver curved hammer head using the right arm to hit the block.",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Take the silver hammer and beat the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Lift the silver hammer, then beat the block.",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Hold the grippy handle hammer and pound the block.",
+    "Grab the grippy handle hammer to beat the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Grab the hammer for nails, then hit the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Take the silver hammer using the right arm, hit the block.",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Pick the silver hammer and strike the block.",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Take the silver curved hammer head and beat the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Beat the block after grabbing the silver curved hammer head",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Use the right arm to grab the silver hammer and beat",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Hold the hammer for nails and pound the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Grab the silver hammer and use it to hit",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Take the hammer for nails and strike the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Pick the hammer for nails and strike the block.",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Take the medium-sized metal hammer and beat the block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode40.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..19796b81aae3fb361e581cd5b161df2503498817
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Lift the grippy handle hammer using the left arm to hit the block.",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Use the left arm to take the silver hammer and strike",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Lift the nail-driving hammer and hit the block",
+    "Take the nail-driving hammer and hammer the block",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Grab the silver hammer using the left arm then pound block",
+    "Pick the silver hammer and smash the block",
+    "Take the nail-driving hammer and strike the block",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Use the silver hammer to hammer the block.",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Use the left arm to take the hammer for nails and strike",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Pick up the silver curved hammer head and strike the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Grab the silver hammer and use it to hit",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Hold the silver hammer then hit the block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Pick up the hammer for nails and use it on the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Lift the silver hammer, then beat the block.",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Make the left arm grab the silver hammer and strike the block."
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode41.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..63e47f0d293725143babc8a24d51eba9a7e749b7
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the grippy handle hammer and use it on the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Use the silver curved hammer head to hammer the block.",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Pick the grippy handle hammer and smash the block",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Grab the plastic handle metal hammer using the right arm then pound block",
+    "Take the hammer for nails and strike the block",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Take the hammer with claw-shaped end and beat the block",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Pick up the medium-sized metal hammer with the right arm, strike the block.",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Pick up the nail-driving hammer and strike the block",
+    "Lift the hammer for nails and hit the block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Lift the nail-driving hammer and hit the block.",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Pick up the hammer for nails and use it on the block",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Use the silver hammer to hammer the block.",
+    "Pick the plastic handle metal hammer with the right arm and hit the block",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Pick the hammer for nails and smash the block",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Grab the hammer for nails with the right arm and hit block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the silver hammer, then hit the block",
+    "Grab the silver hammer, then strike the block.",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Take the handheld medium claw hammer and beat the block",
+    "With the right arm, grab the plastic handle metal hammer and beat the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Grab the hammer with claw-shaped end with the right arm and hit the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Pick up the yellow and black hammer grip with the right arm, strike the block.",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Lift the hammer for nails and hit the block.",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "With the right arm, grab the nail-driving hammer and hammer the block"
+  ],
+  "unseen": [
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode42.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5d49098eac94aad35aa203a1562033ef84d5a36
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Grab the silver hammer using the left arm then pound block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Take the nail-driving hammer and smash the block.",
+    "Grab the silver curved hammer head and use it to hit",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Lift the grippy handle hammer and hit the block.",
+    "Take the silver hammer and strike the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Use the left arm to take the silver curved hammer head and strike",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Take the silver curved hammer head and beat the block",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Hold the nail-driving hammer and pound the block.",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Beat the block after grabbing the hammer for nails",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Lift the silver hammer and hit the block",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Pick up the yellow and black hammer grip using the left arm then beat"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode43.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..284c93be88f1d57e02c2ed8f6e9d2eea05ec2ac4
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Beat the block after grabbing the hammer for nails",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Use the left arm to take the silver curved hammer head and strike",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Use the silver hammer to hammer the block.",
+    "Grab the silver hammer with the left arm and hit block",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Take the medium-sized metal hammer and strike the block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Pick up the silver curved hammer head and strike the block",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grab the nail-driving hammer, then hit the block",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Grab the hammer with two-tone handle using the left arm then pound block",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Use the left arm to take the silver hammer and strike",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Hold the hammer for nails and pound the block.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Grab the silver hammer with the left arm and strike block",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Pick up the grippy handle hammer and use it on the block",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Grab the hammer for nails and use it to hit",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Take the medium-sized metal hammer and strike the block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Lift the silver curved hammer head and hit the block",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "With the left arm, grab the silver curved hammer head and beat the block."
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode44.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd34517352583cbc2a9994e498f22d1d62e9f449
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the hammer for nails and hit the block",
+    "Grab the silver hammer, then strike the block.",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Hold the nail-driving hammer then hit the block",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Take the silver hammer and smash the block.",
+    "Take the hammer for nails and strike the block",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Take the yellow and black hammer grip and beat the block",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Take the medium-sized metal hammer and strike the block",
+    "Pick the silver hammer from the table and strike",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Lift the grippy handle hammer and hit the block.",
+    "Grab the hammer for nails to beat the block.",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Lift the hammer for nails and hit the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Take the hammer with two-tone handle and beat the block",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Take the silver hammer and strike the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Hold the silver hammer and pound the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Pick the hammer for nails and smash the block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Grab the grippy handle hammer to beat the block.",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Lift the silver hammer, then beat the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Lift the hammer for nails with the left arm then strike block"
+  ],
+  "unseen": [
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode45.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..80dd3507b7cd1f3c355ede51556686f94a26c132
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the silver curved hammer head and smash the block.",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Take the hammer for nails and strike the block",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "Lift the nail-driving hammer and hit the block",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "Lift the silver hammer with the right arm then strike block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Hold the grippy handle hammer and pound the block.",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Take the hammer for nails and hammer the block",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Take the grippy handle hammer and beat the block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Pick the nail-driving hammer and smash the block",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Lift the hammer for nails and hit the block.",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Lift the silver hammer, then beat the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Pick the hammer for nails and strike the block.",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Lift the silver curved hammer head and hit the block",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Take the silver curved hammer head and beat the block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Grab the nail-driving hammer and use it to hit",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Use the silver hammer to hammer the block.",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Grab the silver curved hammer head, then hit the block",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Grab the nail-driving hammer using the right arm and hit the block",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Pick the silver hammer from the table and strike"
+  ],
+  "unseen": [
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode46.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..87f69d9d12c766b91e5dd4f831fbe1eb47f2e175
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the grippy handle hammer from the table and strike",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Grab the medium-sized metal hammer using the right arm and strike the block",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Lift the silver hammer, then beat the block.",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Take the silver hammer and smash the block.",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Grab the silver hammer and use it to hit",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Take the hammer for nails and strike the block",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Pick up the nail-driving hammer and strike the block",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "Hold the grippy handle hammer then hit the block",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Pick up the silver hammer using the right arm then beat",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Grab the nail-driving hammer, then hit the block",
+    "Pick the silver hammer and strike the block.",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Take the hammer for nails and hammer the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Take the grippy handle hammer and strike the block",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Lift the silver hammer and hit the block.",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "Hold the nail-driving hammer then hit the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Make the right arm grab the silver hammer and strike the block.",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Grab the hammer with claw-shaped end using the right arm then pound block"
+  ],
+  "unseen": [
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode47.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb7c039b2a8edeb137dd9f7a316efc00797144a9
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Take the silver curved hammer head and smash the block.",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Take the silver curved hammer head and strike the block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Pick up the silver hammer and use it on the block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Pick the silver hammer with the left arm and hit the block",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "Lift the silver hammer and hit the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Take the silver hammer and beat the block",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Pick the silver hammer from the table and strike",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Lift the nail-driving hammer and hit the block.",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Beat the block after grabbing the silver hammer",
+    "Grab the hammer for nails to beat the block.",
+    "Catch the hammer for nails and use it on the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Pick the grippy handle hammer and smash the block",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Hold the grippy handle hammer then hit the block",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Grab the silver hammer and use it to hit",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Take the silver curved hammer head and strike the block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Lift the silver curved hammer head and hit the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Take the hammer for nails and beat the block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Take the grippy handle hammer and hammer the block"
+  ],
+  "unseen": [
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode48.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b350f5ddf54812f395f973d94229aaaf42a8eff
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the grippy handle hammer and strike the block.",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Take the silver curved hammer head and hammer the block",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Use the hammer for nails to hammer the block.",
+    "Hold the hammer for nails and pound the block.",
+    "Grab the silver hammer, then hit the block",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Grab the hammer for nails and use it to hit",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Take the silver hammer and strike the block",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Lift the silver hammer and hit the block",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Lift the grippy handle hammer using the left arm to hit the block.",
+    "Pick the silver hammer and smash the block",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Grab the silver hammer with the left arm and hit block",
+    "Hold the handheld medium claw hammer then hit the block",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Lift the hammer for nails and hit the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Use the hammer for nails to hammer the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Use the left arm to grab the nail-driving hammer and beat",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Grab the hammer for nails and use it to hit",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Take the grippy handle hammer and beat the block",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Catch the nail-driving hammer and use it on the block.",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Take the hammer for nails and strike the block",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "Take the medium-sized metal hammer and strike the block"
+  ],
+  "unseen": [
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode49.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..0535fd676ace1a24da1e7ee1068fc2f765835cfe
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the yellow and black hammer grip and beat the block",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Grab the grippy handle hammer to beat the block.",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Lift the plastic handle metal hammer with the left arm then strike block",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Take the hammer for nails and smash the block.",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Lift the silver curved hammer head and hit the block",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Take the silver hammer and beat the block",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Take the silver curved hammer head and beat the block",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Lift the grippy handle hammer and hit the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Use the silver hammer to hammer the block.",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Employ the left arm to grab the yellow and black hammer grip and hit.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Hold the silver hammer then hit the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Lift the nail-driving hammer and hit the block",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Pick the hammer for nails from the table and strike",
+    "Pick the nail-driving hammer and smash the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Pick up the silver hammer and strike the block",
+    "Take the nail-driving hammer and beat the block",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Use the left arm to take the silver hammer and strike",
+    "Take the plastic handle metal hammer using the left arm, hit the block."
+  ],
+  "unseen": [
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode5.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..be574674b5ef38b03a7f6f053630a9b5ecf02294
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Take the hammer for nails and hammer the block",
+    "Grab the hammer for nails with the right arm and hit block",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Grab the plastic handle metal hammer using the right arm then pound block",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Use the hammer for nails to hammer the block.",
+    "Grab the hammer for nails with the right arm and strike block",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Pick the nail-driving hammer and smash the block",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Use the right arm to take the hammer for nails and strike",
+    "Take the yellow and black hammer grip and strike the block",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "Take the hammer for nails and beat the block",
+    "Pick up the silver hammer and use it on the block",
+    "Take the hammer for nails and smash the block.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Employ the right arm to grab the plastic handle metal hammer and hit.",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Pick up the medium-sized metal hammer using the right arm, hammer the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Take the nail-driving hammer and hammer the block",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Take the hammer with two-tone handle and strike the block",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Take the silver hammer and smash the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Take the hammer for nails and strike the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Pick up the silver hammer using the right arm then beat",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Grab the hammer with two-tone handle to beat the block."
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode6.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..74d028b98cb02669711a374c238a7c784fc6cd24
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the silver hammer and hit the block",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Hold the grippy handle hammer then hit the block",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Pick the nail-driving hammer and smash the block",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Take the silver hammer and strike the block",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Take the silver hammer and strike the block",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Beat the block after grabbing the hammer for nails",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Grab the silver hammer, then hit the block",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Grab the nail-driving hammer to beat the block.",
+    "Lift the silver hammer, then beat the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Catch the silver hammer and use it on the block.",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Take the silver curved hammer head and beat the block",
+    "Pick the silver curved hammer head from the table and strike",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Lift the black and yellow hammer grip with the left arm then strike block"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode7.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..f188c32cc1670013b37349edbb9339fa111bba5b
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the nail-driving hammer and smash the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Take the nail-driving hammer and beat the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Grab the grippy handle hammer, then strike the block.",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Take the hammer with two-tone handle and beat the block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Grab the silver hammer, then hit the block",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Take the hammer for nails and strike the block",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Lift the plastic handle metal hammer with the left arm then strike block",
+    "Pick the silver curved hammer head from the table and strike",
+    "Pick up the grippy handle hammer and strike the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Hold the grippy handle hammer and pound the block.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Use the left arm to take the silver curved hammer head and strike",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Take the silver curved hammer head and strike the block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Pick the silver hammer and smash the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Grab the hammer for nails, then strike the block.",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Take the plastic handle metal hammer and beat the block",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Grab the hammer for nails, then hit the block",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Take the hammer for nails and strike the block",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Use the left arm to grab the hammer with claw-shaped end and beat"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode8.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c2df446a605cbed4ef0c7b9124cfbd660851035
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Pick the nail-driving hammer and smash the block",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Use the right arm to grab the silver hammer and beat",
+    "Take the yellow and black hammer grip and hammer the block",
+    "With the right arm, grab the plastic handle metal hammer and hit the block",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "Hold the silver hammer and pound the block.",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Pick up the silver curved hammer head with the right arm, strike the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Lift the silver hammer, then beat the block.",
+    "Lift the handheld medium claw hammer with the right arm then strike block",
+    "Grab the grippy handle hammer to beat the block.",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Grab the silver hammer with the right arm and hit block",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Pick the silver curved hammer head from the table and strike",
+    "Take the nail-driving hammer and strike the block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Use the grippy handle hammer to hammer the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Pick the medium-sized metal hammer with the right arm and hit the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Grab the hammer for nails, then hit the block",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "With the right arm, grab the hammer for nails and hammer the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Take the nail-driving hammer using the right arm, hit the block.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Take the hammer with two-tone handle and hammer the block",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Make the right arm grab the silver hammer and strike the block.",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Use the hammer for nails to beat after grabbing with the right arm",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Take the hammer for nails and beat the block",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Lift the silver curved hammer head and hit the block."
+  ],
+  "unseen": [
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode9.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..96b0f4bb67c894c2b4229a8a24e726e673003a00
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "Lift the silver curved hammer head and hit the block",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Take the nail-driving hammer and beat the block",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Lift the silver hammer and hit the block.",
+    "Use the left arm to grab the nail-driving hammer and beat",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Catch the silver hammer and use it on the block.",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Lift the grippy handle hammer and hit the block",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Use the silver hammer to hammer the block.",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Take the hammer for nails and beat the block",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Pick the nail-driving hammer and strike the block.",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Lift the plastic handle metal hammer with the left arm then strike block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Lift the silver hammer and hit the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Pick the grippy handle hammer and smash the block",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Catch the hammer for nails and use it on the block.",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Take the handheld medium claw hammer and hammer the block"
+  ],
+  "unseen": [
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/scene_info.json b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6539b2a28ea35c9a4a7e299fb59635cd3d6d303
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/franka-panda/meta/scene_info.json
@@ -0,0 +1,552 @@
+{
+    "episode_0": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_20": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_21": {
+        "cluttered_table_info": [],
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/config.yml b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/config.yml
new file mode 100644
index 0000000000000000000000000000000000000000..89ae1e704e528525b290bb3dce2c54c6fd416782
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/config.yml
@@ -0,0 +1,41 @@
+urdf_path: "./ur5_wsg_gripper.urdf"
+srdf_path: "./ur5.srdf"
+joint_stiffness: 1000
+joint_damping: 200
+gripper_stiffnes: 1000
+gripper_damping: 200
+move_group: ["ee_link","ee_link"]
+ee_joints: ["ee_fixed_joint","ee_fixed_joint"]
+arm_joints_name: [["shoulder_pan_joint" ,"shoulder_lift_joint" ,"elbow_joint" ,"wrist_1_joint", "wrist_2_joint", "wrist_3_joint"],
+                  ["shoulder_pan_joint" ,"shoulder_lift_joint" ,"elbow_joint" ,"wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]]
+# gripper_name: [["robotiq_85_left_knuckle_joint", "robotiq_85_right_knuckle_joint"],
+              #  ["robotiq_85_left_knuckle_joint", "robotiq_85_right_knuckle_joint"]]
+gripper_name:
+  - base: "base_joint_gripper_left"
+    mimic: [["base_joint_gripper_right", -1., 0.]]
+  - base: "base_joint_gripper_left"
+    mimic: [["base_joint_gripper_right", -1., 0.]]
+gripper_bias: 0.11
+gripper_scale: [0.01, -0.06]
+homestate: [[-1.5447, -1.5447, -1.5447, -1.5794, 1.5794, 0],
+            [-1.5447, -1.5447, -1.5447, -1.5794, 1.5794, 0]]
+delta_matrix: [[1,0,0],[0,1,0],[0,0,1]]
+global_trans_matrix: [[1,0,0],[0,-1,0],[0,0,-1]]
+robot_pose: [[0, -0.65, 0.65, 1, 0, 0, 0],[0, -0.65, 0.75, 1, 0, 0, 0]]   # modify
+planner: "curobo"
+dual_arm: False
+fix_gripper_name: ["finger_left", "finger_right"]
+static_camera_list: 
+- name: head_camera
+  position:
+  - -0.032
+  - -0.45
+  - 1.35
+  forward:
+  - 0
+  - 0.6
+  - -0.8
+  left:
+  - -1
+  - 0
+  - 0
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/info.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff54be025d2aaa8c37b4425bb42100b696bdcdb6
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/info.json
@@ -0,0 +1,62 @@
+{
+  "task": "beat_block_hammer",
+  "embodiment": "ur5-wsg",
+  "camera_views": [
+    "head_camera",
+    "left_camera",
+    "right_camera"
+  ],
+  "data_resolution": "320x240",
+  "num_episodes": 50,
+  "embodiment_config": {
+    "urdf": "ur5_wsg_gripper_isaac.urdf",
+    "dual_arm": false,
+    "dis": 0.8,
+    "left_arm": [
+      "shoulder_pan_joint",
+      "shoulder_lift_joint",
+      "elbow_joint",
+      "wrist_1_joint",
+      "wrist_2_joint",
+      "wrist_3_joint"
+    ],
+    "right_arm": [
+      "shoulder_pan_joint",
+      "shoulder_lift_joint",
+      "elbow_joint",
+      "wrist_1_joint",
+      "wrist_2_joint",
+      "wrist_3_joint"
+    ],
+    "left_gripper": [
+      "base_joint_gripper_left",
+      [
+        [
+          "base_joint_gripper_right",
+          -1.0,
+          0.0
+        ]
+      ]
+    ],
+    "right_gripper": [
+      "base_joint_gripper_left",
+      [
+        [
+          "base_joint_gripper_right",
+          -1.0,
+          0.0
+        ]
+      ]
+    ],
+    "gripper_scale": [
+      0.01,
+      -0.06
+    ],
+    "grasp_axis": [
+      0.0,
+      0.0,
+      -1.0
+    ]
+  },
+  "source_renderer": "render/render_robotwin.py"
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode0.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6527dd76d88f1fa25fec8c95a7991c0361f86012
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode0.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the nail-driving hammer and strike the block",
+    "Grab the silver hammer with the right arm and hit block",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Make the right arm grab the silver hammer and strike the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Lift the silver hammer and hit the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Grab the nail-driving hammer and use it to hit",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Pick the nail-driving hammer and smash the block",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Hold the nail-driving hammer and pound the block.",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Pick the plastic handle metal hammer with the right arm and hit the block",
+    "Take the silver hammer and strike the block",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "Pick up the silver hammer and strike the block",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Pick up the yellow and black hammer grip with the right arm, strike the block.",
+    "Take the silver hammer and strike the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Grab the plastic handle metal hammer using the right arm then pound block",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Lift the silver hammer and hit the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Grab the hammer with claw-shaped end with the right arm and hit the block",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Employ the right arm to grab the grippy handle hammer and hit.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Take the silver hammer and smash the block.",
+    "Pick the hammer for nails and smash the block",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Lift the medium-sized metal hammer using the right arm to hit the block.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Grab the black and yellow hammer grip using the right arm and hit the block"
+  ],
+  "unseen": [
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode1.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd10b1436f461d9933908d0705bbd7372d098057
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the plastic handle metal hammer and strike the block.",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Take the hammer for nails and hammer the block",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Grab the hammer with two-tone handle using the left arm then pound block",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Grip the silver hammer firmly and hit the block.",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Take the medium-sized metal hammer and strike the block",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Grab the grippy handle hammer to beat the block.",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Lift the hammer for nails and hit the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Pick the grippy handle hammer and strike the block.",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Grab the silver hammer using the left arm then pound block",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Grab the silver curved hammer head, then hit the block",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Take the silver curved hammer head and smash the block.",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Pick up the silver hammer and strike the block",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the silver hammer and use it to hit",
+    "Take the handheld medium claw hammer and strike the block",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Pick the grippy handle hammer from the table and strike",
+    "Grab the nail-driving hammer to beat the block.",
+    "Pick the silver hammer with the left arm and hit the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Grab the grippy handle hammer with the left arm and hit block"
+  ],
+  "unseen": [
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode10.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..027c20f69b0c54b45d5c63613108aa5fb04c2ef8
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the plastic handle metal hammer and beat the block",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Pick up the silver curved hammer head and strike the block",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Lift the silver hammer with the right arm then strike block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Lift the silver curved hammer head and hit the block.",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Grab the grippy handle hammer, then hit the block",
+    "Hold the grippy handle hammer then hit the block",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Grab the medium-sized metal hammer using the right arm and hit the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the silver hammer and use it to hit",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Employ the right arm to grab the grippy handle hammer and hit.",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Use the hammer for nails to beat after grabbing with the right arm",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Pick up the hammer for nails and strike the block",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "With the right arm, grab the hammer for nails and beat the block.",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Lift the silver hammer and hit the block.",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Use the hammer for nails to hammer the block.",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Hold the grippy handle hammer then hit the block",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Take the silver hammer and beat the block",
+    "Grab the silver hammer and use it to hit",
+    "Catch the silver hammer and use it on the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Grab the grippy handle hammer to beat the block.",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Pick the medium-sized metal hammer with the right arm and hit the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Take the medium-sized metal hammer and strike the block"
+  ],
+  "unseen": [
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode11.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..0558c20efa64146dcafd103d6d6bf86c977b5fb3
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the yellow and black hammer grip and strike the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Hold the hammer for nails and pound the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Take the silver hammer and beat the block",
+    "Employ the left arm to grab the yellow and black hammer grip and hit.",
+    "Grab the silver hammer with the left arm and strike block",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Use the left arm to take the silver curved hammer head and strike",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Take the silver curved hammer head and smash the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Take the grippy handle hammer and strike the block",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Pick the silver hammer and strike the block.",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Lift the silver hammer with the left arm then strike block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Take the silver curved hammer head and smash the block.",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Pick the hammer for nails and smash the block",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "With the left arm, grab the silver hammer and hit the block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike."
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode12.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..86549659a542eb4e6c9c502f4c16ceaec012506b
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer for nails with the right arm and hit block",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "Hold the hammer for nails and pound the block.",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Lift the grippy handle hammer and hit the block.",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Lift the silver hammer with the right arm then strike block",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Use the right arm to grab the medium-sized metal hammer and beat block",
+    "Use the right arm to take the hammer with claw-shaped end and strike",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Grab the hammer for nails, then strike the block.",
+    "Grab the nail-driving hammer using the right arm and hit the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Lift the grippy handle hammer and hit the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Take the hammer for nails and strike the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Lift the yellow and black hammer grip using the right arm to hit the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Lift the hammer for nails and hit the block.",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Beat the block after grabbing the silver hammer",
+    "Lift the silver hammer with the right arm then strike block",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Grab the silver hammer using the right arm and hit the block",
+    "Take the silver curved hammer head and beat the block",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Lift the grippy handle hammer and hit the block",
+    "Lift the hammer for nails, then beat the block.",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Grab the grippy handle hammer to beat the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Hold the nail-driving hammer then hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the silver hammer with the right arm and strike block"
+  ],
+  "unseen": [
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode13.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..0575ceac0fdc04a8829e745f729a0083af00aa9d
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Take the hammer for nails and strike the block",
+    "Grab the silver hammer and use it to hit",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Catch the hammer for nails and use it on the block.",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Hold the grippy handle hammer and pound the block.",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Hold the silver hammer then hit the block",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Pick up the silver hammer using the left arm then beat",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Use the hammer for nails to hammer the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Pick the silver hammer and strike the block.",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Lift the silver hammer and hit the block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Grab the hammer with two-tone handle with the left arm and hit block",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Hold the silver hammer and pound the block.",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Pick up the silver hammer and use it on the block",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Take the silver curved hammer head and strike the block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Grab the hammer for nails to beat the block.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Use the silver curved hammer head to hammer the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Use the left arm to take the silver curved hammer head and strike",
+    "Pick up the silver hammer with the left arm, strike the block."
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode14.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..72d77263f8f277092884a40c8f3fe447bea58dcc
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Grab the medium-sized metal hammer with the right arm and hit the block",
+    "Lift the nail-driving hammer with the right arm then strike block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Take the nail-driving hammer and smash the block.",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Grab the silver hammer with the right arm and hit block",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Hold the silver hammer then hit the block",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Pick up the hammer for nails and use it on the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Pick the silver curved hammer head and smash the block",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Take the grippy handle hammer and strike the block",
+    "Lift the nail-driving hammer and hit the block.",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Pick the medium-sized metal hammer with the right arm and hit the block",
+    "Grab the yellow and black hammer grip using the right arm then pound block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "Take the silver hammer and beat the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "Grab the grippy handle hammer to beat the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Hold the silver hammer then hit the block",
+    "Grab the medium-sized metal hammer using the right arm and strike the block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Pick up the silver curved hammer head and strike the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Use the grippy handle hammer to hammer the block."
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode15.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9c794cbc10b2283147bf695f4319d5fa073c772
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the yellow and black hammer grip and strike the block",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Pick the hammer for nails and strike the block.",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Grab the silver hammer, then strike the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Grab the silver hammer to beat the block.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Pick up the silver hammer and strike the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Beat the block after grabbing the silver hammer",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Take the hammer for nails and smash the block.",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Take the silver curved hammer head and hammer the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "With the left arm, pick up the hammer with two-tone handle and strike the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Take the silver hammer and beat the block",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Lift the silver hammer, then beat the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Beat the block after grabbing the silver hammer",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Pick up the silver hammer using the left arm then beat",
+    "Grab the hammer for nails and use it to hit",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Take the black and yellow hammer grip and strike the block"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode16.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..50ae43d08fc8744180dd1bfe0e6d701822c83f36
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the silver hammer and hit the block",
+    "Lift the plastic handle metal hammer with the left arm then strike block",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Lift the nail-driving hammer and hit the block.",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Hold the silver hammer and pound the block.",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Pick the silver curved hammer head and smash the block",
+    "Pick up the silver hammer and strike the block",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Grab the hammer with two-tone handle with the left arm and hit block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Take the grippy handle hammer and hammer the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Hold the grippy handle hammer then hit the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Grab the silver hammer, then hit the block",
+    "Grab the grippy handle hammer and use it to hit",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Catch the silver hammer and use it on the block.",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Pick the silver hammer from the table and strike",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Grab the hammer for nails and use it to hit",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Lift the handheld medium claw hammer using the left arm to hit the block."
+  ],
+  "unseen": [
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode17.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ce6f532d256c0845f2bec946297929ca66e512e
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Grab the silver hammer with the left arm and strike block",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Use the left arm to take the hammer for nails and strike",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Grab the silver hammer using the left arm then pound block",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Grab the hammer for nails and use it to hit",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Take the hammer for nails and strike the block",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Lift the grippy handle hammer and hit the block.",
+    "Take the grippy handle hammer and beat the block",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Use the grippy handle hammer to hammer the block.",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Take the nail-driving hammer and beat the block",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Pick the silver hammer and smash the block",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Hold the grippy handle hammer and pound the block.",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Grab the silver hammer using the left arm then pound block",
+    "Pick up the hammer for nails and strike the block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Take the silver hammer and hammer the block",
+    "Hold the grippy handle hammer then hit the block",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Grab the grippy handle hammer to beat the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Take the grippy handle hammer and beat the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode18.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e3497556117d815a9f5983390805baa8651cc17
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the hammer with two-tone handle and beat the block",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "With the right arm, grab the hammer for nails and beat the block.",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Grab the silver hammer and use it to hit",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Take the silver hammer and strike the block",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Lift the hammer for nails, then beat the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Take the hammer for nails and strike the block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Pick up the hammer for nails and use it on the block",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Take the silver hammer and beat the block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Pick the nail-driving hammer and smash the block",
+    "Take the grippy handle hammer and beat the block",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Pick up the nail-driving hammer and strike the block",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Hold the silver hammer then hit the block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "With the right arm, grab the plastic handle metal hammer and hit the block",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Pick the plastic handle metal hammer with the right arm and hit the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the silver hammer using the right arm then pound block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Take the hammer for nails and beat the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Pick the silver curved hammer head from the table and strike",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "Grab the silver hammer with the right arm and strike block",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Hold the nail-driving hammer and pound the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Pick the grippy handle hammer and smash the block"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode19.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f624ffd5007ab4c6c9fee5d63441a1ccb69d8b6
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Take the silver hammer and beat the block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Take the silver hammer and strike the block",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Take the hammer for nails and hammer the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Take the silver hammer and strike the block",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Take the nail-driving hammer using the right arm, hit the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "Grab the grippy handle hammer and use it to hit",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Pick the plastic handle metal hammer and smash the block",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Take the nail-driving hammer and hammer the block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "Take the nail-driving hammer and smash the block.",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "Grab the nail-driving hammer and use it to hit",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Lift the nail-driving hammer with the right arm then strike block",
+    "Pick the nail-driving hammer and smash the block",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Grab the medium-sized metal hammer using the right arm and hit the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Beat the block after grabbing the grippy handle hammer"
+  ],
+  "unseen": [
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode2.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ded436aed587239ac74fe3c4475052eecd32449
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Grab the hammer for nails and use it to hit",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick the silver hammer and smash the block",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Pick the silver hammer from the table and strike",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Pick up the nail-driving hammer and strike the block",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Hold the silver hammer and pound the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Hold the grippy handle hammer then hit the block",
+    "Take the hammer for nails and smash the block.",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Lift the nail-driving hammer and hit the block.",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Grab the silver hammer, then strike the block.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Grab the hammer for nails and use it to hit",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Grab the silver curved hammer head, then hit the block",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Hold the grippy handle hammer and pound the block.",
+    "Grip the hammer for nails firmly and hit the block.",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Take the silver hammer and smash the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode20.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..812eea8d64280163fabe688a053eec2492edc299
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Pick the grippy handle hammer and smash the block",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Take the silver hammer and strike the block",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Hold the grippy handle hammer then hit the block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Lift the hammer for nails, then beat the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Pick up the silver curved hammer head and use it on the block",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Take the silver curved hammer head and strike the block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Grab the silver hammer with the left arm and hit block",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Take the grippy handle hammer and beat the block",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Take the hammer for nails and smash the block.",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Use the left arm to grab the grippy handle hammer and beat block"
+  ],
+  "unseen": [
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode21.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..a29fbd606aa68def8cdf3115c66ead4e29160d82
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the handheld medium claw hammer with the right arm then strike block",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Take the silver hammer and smash the block.",
+    "Take the silver hammer and beat the block",
+    "Take the silver hammer and beat the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Grab the silver hammer using the right arm then pound block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Grab the silver hammer with the right arm and hit block",
+    "Grab the plastic handle metal hammer with the right arm and beat the block.",
+    "Pick up the silver hammer and strike the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Use the right arm to take the silver hammer and strike",
+    "Lift the nail-driving hammer and hit the block.",
+    "Pick up the medium-sized metal hammer with the right arm, strike the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Grab the silver hammer to beat the block.",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Take the silver hammer and strike the block",
+    "Pick the grippy handle hammer and smash the block",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Pick up the medium-sized metal hammer using the right arm, hammer the block.",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Take the hammer for nails and beat the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Use the silver hammer to hammer the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Employ the right arm to grab the plastic handle metal hammer and hit.",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Take the nail-driving hammer and strike the block",
+    "Pick the silver hammer and smash the block",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Pick the plastic handle metal hammer with the right arm and hit the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike."
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode22.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d02ff68e6e13fb99dd1996447c6e3977315459e
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Pick up the silver curved hammer head and strike the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Catch the hammer for nails and use it on the block.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Pick the silver curved hammer head and strike the block.",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Grab the silver hammer with the left arm and hit the block",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Take the hammer for nails and beat the block",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Beat the block after grabbing the hammer for nails",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Take the hammer for nails and beat the block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Lift the hammer for nails, then beat the block.",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "With the left arm, pick up the hammer with two-tone handle and strike the block.",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Grab the grippy handle hammer to beat the block.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Lift the hammer for nails and hit the block.",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Grab the silver hammer with the left arm and hit block",
+    "Lift the hammer for nails and hit the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Pick the silver curved hammer head from the table and strike",
+    "Pick up the nail-driving hammer and strike the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Pick the silver curved hammer head and strike the block.",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Take the hammer for nails and beat the block",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Take the hammer for nails and strike the block",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Beat the block after grabbing the nail-driving hammer"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode23.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..c97050ef4185821f5cfc29994532164549a4e1b3
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Take the grippy handle hammer and strike the block",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Take the hammer for nails and strike the block",
+    "Hold the silver curved hammer head and pound the block.",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Pick up the medium-sized metal hammer using the right arm, hammer the block.",
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Grab the silver hammer to beat the block.",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Pick the hammer for nails and smash the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Grab the silver curved hammer head, then strike the block.",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Catch the silver hammer and use it on the block.",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Take the nail-driving hammer and strike the block",
+    "Lift the yellow and black hammer grip using the right arm to hit the block.",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Pick the silver hammer with the right arm and hit the block",
+    "Take the hammer for nails and beat the block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Grab the plastic handle metal hammer using the right arm then pound block",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Hold the grippy handle hammer then hit the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Grab the silver hammer and use it to hit",
+    "Take the hammer for nails and hammer the block",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Lift the grippy handle hammer and hit the block.",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Pick up the silver curved hammer head and strike the block",
+    "Take the nail-driving hammer and strike the block",
+    "Hold the silver hammer and pound the block.",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Use the right arm to take the silver hammer and strike",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Pick the grippy handle hammer and smash the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Grab the grippy handle hammer, then strike the block."
+  ],
+  "unseen": [
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode24.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa8b01a010507dfacee7adec14e96e1ad33c5685
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Grab the silver hammer to beat the block.",
+    "Lift the hammer for nails and hit the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Pick the hammer for nails and smash the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Lift the silver hammer with the left arm then strike block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Grab the silver hammer and use it to hit",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Grab the hammer for nails, then strike the block.",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Hold the silver hammer then hit the block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Grab the grippy handle hammer, then hit the block",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Pick up the hammer for nails and use it on the block",
+    "Grab the medium-sized metal hammer with the left arm and hit block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "Lift the grippy handle hammer and hit the block",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "Pick the silver hammer and smash the block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Take the hammer for nails and strike the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Grab the grippy handle hammer, then strike the block.",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Hold the hammer for nails and pound the block.",
+    "Pick the nail-driving hammer and strike the block.",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Use the left arm to take the hammer for nails and strike",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Take the hammer with two-tone handle and beat the block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode25.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c3afef65efd112f8dbaaba7cb83a3aeb6b3125c
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Take the hammer for nails and beat the block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Take the black and yellow hammer grip and strike the block",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the silver curved hammer head, then strike the block.",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Take the silver hammer and strike the block",
+    "Hold the hammer for nails then hit the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Pick up the silver hammer and use it on the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Use the left arm to take the silver hammer and strike",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Grab the hammer for nails and use it to hit",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "Take the hammer for nails and hammer the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Lift the silver hammer and hit the block",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Pick up the silver hammer using the left arm then beat",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Hold the hammer for nails then hit the block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "Grab the plastic handle metal hammer using the left arm, then beat the block",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Pick the silver curved hammer head and smash the block",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Grab the silver hammer using the left arm then pound block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block."
+  ],
+  "unseen": [
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode26.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..12fae4b0f4ead0e04af068d492da3393998db288
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the hammer with claw-shaped end and smash the block",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Hold the silver hammer and pound the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Take the medium-sized metal hammer and strike the block",
+    "Take the hammer for nails and hammer the block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Take the medium-sized metal hammer and beat the block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Pick the silver hammer with the left arm and hit the block",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "Take the silver curved hammer head and beat the block",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Pick the silver hammer and smash the block",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Lift the hammer for nails and hit the block",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Catch the silver hammer and use it on the block.",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Use the grippy handle hammer to hammer the block.",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Take the silver hammer and strike the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Take the yellow and black hammer grip and beat the block",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit."
+  ],
+  "unseen": [
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with black handle."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode27.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9c74a9ce6754a86628bfd4737f9fa78590caab8
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Grab the hammer for nails, then hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Use the silver hammer to hammer the block.",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Use the left arm to grab the silver hammer and beat",
+    "Take the hammer for nails and strike the block",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Grab the hammer for nails, then strike the block.",
+    "Take the silver curved hammer head and smash the block.",
+    "Grab the nail-driving hammer and use it to hit",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Catch the silver hammer and use it on the block.",
+    "Pick up the grippy handle hammer and use it on the block",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Pick up the yellow and black hammer grip using the left arm, hammer the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Pick the silver hammer and smash the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Use the left arm to take the silver hammer and strike",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Take the silver hammer and strike the block",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Employ the left arm to grab the yellow and black hammer grip and hit.",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Lift the silver hammer and hit the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Take the hammer for nails and smash the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Take the silver hammer and strike the block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Take the hammer for nails and beat the block",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "With the left arm, grab the nail-driving hammer and beat the block."
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode28.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..e590dd42b504c19215aa81992b03426253f4957f
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Hold the silver hammer then hit the block",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Take the hammer with two-tone handle and strike the block",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Take the silver hammer and beat the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Grab the hammer for nails, then hit the block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Grab the hammer for nails to beat the block.",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Take the hammer with two-tone handle and strike the block",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Lift the nail-driving hammer and hit the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "Take the hammer for nails and hammer the block",
+    "Use the hammer for nails to hammer the block.",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Catch the silver curved hammer head and use it on the block."
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode29.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c0302d00545bb67636f4023089672b4b5e15470
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the hammer with two-tone handle and smash the block.",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Grab the hammer with two-tone handle using the left arm then pound block",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Take the nail-driving hammer and strike the block",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Take the hammer for nails and beat the block",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Take the grippy handle hammer and strike the block",
+    "Lift the silver curved hammer head and hit the block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Use the silver hammer to hammer the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Grab the hammer for nails using the left arm then pound block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Grab the hammer for nails, then hit the block",
+    "Hold the silver hammer then hit the block",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Take the handheld medium claw hammer and beat the block",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Grab the hammer for nails, then strike the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Take the silver curved hammer head and strike the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Use the silver curved hammer head to hammer the block.",
+    "Grab the silver hammer and use it to hit",
+    "Beat the block after grabbing the handheld medium claw hammer"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode3.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..65d14eb3c9cec10a3910f8fec21faddbc9a2421e
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the plastic handle metal hammer then hit the block",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Use the hammer for nails to hammer the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Take the grippy handle hammer and beat the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "With the right arm, grab the hammer for nails and beat the block.",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Take the hammer for nails and beat the block",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Pick the silver hammer from the table and strike",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Grab the hammer with claw-shaped end using the right arm, then beat the block",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Pick up the yellow and black hammer grip with the right arm, strike the block.",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "With the right arm, grab the yellow and black hammer grip and hammer the block",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Grab the hammer for nails, then hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Take the grippy handle hammer and beat the block",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Lift the black and yellow hammer grip and hit the block",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Pick the hammer for nails and smash the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Take the hammer for nails and strike the block",
+    "Grab the plastic handle metal hammer with the right arm and strike block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Grab the nail-driving hammer using the right arm and hit the block",
+    "Pick up the grippy handle hammer with the right arm, strike the block.",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Use the right arm to take the handheld medium claw hammer and strike"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode30.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..598db96e33b3194061f2e2917dc40bf48ddb45a7
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the silver curved hammer head and hit the block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Take the nail-driving hammer and strike the block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Grab the hammer for nails, then strike the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Take the nail-driving hammer and strike the block",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Take the hammer for nails and smash the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Use the silver curved hammer head to hammer the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Pick the silver hammer and strike the block.",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Grab the silver hammer, then hit the block",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Lift the hammer for nails, then beat the block.",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Take the hammer for nails and beat the block",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Pick up the silver hammer and strike the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Pick the silver curved hammer head and smash the block",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Grab the silver hammer using the left arm, then beat the block"
+  ],
+  "unseen": [
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode31.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..0787b4be2012bbbbed4ddaa22cd6f2ab82d0dbec
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Grab the hammer for nails, then strike the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Take the hammer for nails and smash the block.",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Hold the hammer for nails then hit the block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Employ the left arm to grab the yellow and black hammer grip and hit.",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Take the grippy handle hammer and beat the block",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Use the silver hammer to hammer the block.",
+    "Pick the silver hammer with the left arm and hit the block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the silver hammer using the left arm then pound block",
+    "Grab the hammer for nails to beat the block.",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "Pick the silver hammer and smash the block",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "Grab the silver hammer, then strike the block.",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Take the nail-driving hammer and beat the block",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Pick up the silver hammer and use it on the block",
+    "Grab the silver curved hammer head, then hit the block",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Lift the hammer for nails and hit the block",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Grab the nail-driving hammer to beat the block.",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Grab the grippy handle hammer using the left arm and hit the block"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode32.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5f8dbffd7452b9ebad225316ccec74bee3f916d
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "With the right arm, pick up the silver hammer and strike the block.",
+    "Lift the silver hammer and hit the block.",
+    "With the right arm, grab the plastic handle metal hammer and beat the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Lift the silver curved hammer head and hit the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Take the hammer for nails and strike the block",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Take the grippy handle hammer and beat the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Take the nail-driving hammer and smash the block.",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Grab the nail-driving hammer with the right arm and beat the block.",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Take the grippy handle hammer and strike the block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Beat the block after grabbing the hammer for nails",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Lift the silver hammer with the right arm then strike block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "With the right arm, pick up the silver hammer and strike the block.",
+    "Lift the silver hammer and hit the block.",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Grab the silver hammer with the right arm and hit block",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "Pick up the hammer for nails and strike the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Lift the silver curved hammer head and hit the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "Lift the yellow and black hammer grip using the right arm to hit the block.",
+    "Take the hammer for nails and strike the block",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Pick the grippy handle hammer and smash the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Lift the silver hammer, then beat the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "Take the silver curved hammer head and smash the block.",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Grab the medium-sized metal hammer using the right arm and hit the block",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Grab the plastic handle metal hammer using the right arm then pound block"
+  ],
+  "unseen": [
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode33.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..79318fba6b55fa067338335e7acde5551d238adb
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "Grab the silver curved hammer head, then hit the block",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Take the hammer for nails and strike the block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Lift the hammer for nails, then beat the block.",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Utilize the right arm to hold the grippy handle hammer and strike.",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Pick up the silver curved hammer head and strike the block",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Grab the black and yellow hammer grip using the right arm then pound block",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Grab the hammer with two-tone handle using the right arm, then beat the block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Lift the silver hammer and hit the block.",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Hold the hammer for nails and pound the block.",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Grab the hammer with claw-shaped end with the right arm and hit block",
+    "Take the nail-driving hammer and hammer the block",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Pick the plastic handle metal hammer with the right arm and hit the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Take the silver curved hammer head and beat the block",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "Grab the medium-sized metal hammer using the right arm and hit the block",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Pick up the silver hammer using the right arm then beat",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Grab the silver hammer to beat the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Take the silver hammer and strike the block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Grab the silver hammer with the right arm and strike block",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Hold the hammer for nails then hit the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "With the right arm, grab the medium-sized metal hammer and beat the block.",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Grab the hammer with claw-shaped end with the right arm and hit the block",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Pick the silver hammer and smash the block",
+    "Lift the silver hammer and hit the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Grab the handheld medium claw hammer using the right arm and strike the block",
+    "Grab the hammer for nails with the right arm and hit block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Pick the plastic handle metal hammer with the right arm and hit the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Take the silver hammer and strike the block",
+    "Take the silver hammer and beat the block"
+  ],
+  "unseen": [
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode34.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..d82d473c77d33e18d5373696e50d7176321a8f1b
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick the grippy handle hammer and smash the block",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Take the hammer for nails and beat the block",
+    "Use the right arm to grab the medium-sized metal hammer and beat block",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "With the right arm, grab the hammer for nails and hammer the block",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Pick up the silver hammer using the right arm then beat",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "Use the right arm to take the hammer with claw-shaped end and strike",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Lift the grippy handle hammer and hit the block.",
+    "Take the silver hammer and strike the block",
+    "Take the nail-driving hammer and smash the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Pick the silver hammer and strike the block.",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "Grab the yellow and black hammer grip with the right arm and beat the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Take the hammer for nails and beat the block",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Pick up the nail-driving hammer and strike the block",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Use the right arm to take the hammer for nails and strike",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Take the silver hammer using the right arm, hit the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Lift the nail-driving hammer and hit the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Lift the silver hammer and hit the block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "Hold the nail-driving hammer and pound the block.",
+    "Grip the yellow and black hammer grip firmly and hit the block."
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode35.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..309d5b0f6badf862fbe357c1ec1f38eb44b4c5cd
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the hammer for nails and use it on the block.",
+    "Pick the nail-driving hammer from the table and strike",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Take the grippy handle hammer and hammer the block",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Take the nail-driving hammer and beat the block",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Use the left arm to grab the nail-driving hammer and beat",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Grab the hammer for nails using the left arm and strike the block",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Grab the silver hammer with the left arm and strike block",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the medium-sized metal hammer with the left arm and hit the block",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Grab the nail-driving hammer to beat the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Grab the silver hammer using the left arm then pound block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Take the hammer for nails and hammer the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Take the hammer for nails and beat the block",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Use the left arm to grab the silver hammer and beat",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Grab the silver hammer, then hit the block",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Lift the grippy handle hammer and hit the block.",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Lift the yellow and black hammer grip and hit the block"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode36.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..a35492303daeff9f8d9b90fdc25d47c5b289f8eb
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the silver curved hammer head from the table and strike",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Catch the hammer for nails and use it on the block.",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Lift the silver hammer with the left arm then strike block",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Lift the grippy handle hammer and hit the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Take the nail-driving hammer and smash the block.",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Grab the silver hammer to beat the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Take the silver hammer and hammer the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "Lift the silver hammer and hit the block.",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Take the silver hammer and beat the block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode37.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..480935e662e38a32e88e6146d31de1501fbd3a52
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the yellow and black hammer grip and smash the block.",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Grab the silver hammer with the left arm and beat the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Lift the hammer for nails, then beat the block.",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Pick the silver hammer with the left arm and hit the block",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Lift the silver hammer and hit the block",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Grab the grippy handle hammer, then hit the block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Take the nail-driving hammer and smash the block.",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Pick the hammer for nails and smash the block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Take the hammer for nails and strike the block",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Catch the silver hammer and use it on the block.",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Grab the silver curved hammer head to beat the block.",
+    "Take the hammer for nails and strike the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Lift the silver curved hammer head and hit the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Pick up the hammer for nails and use it on the block",
+    "Lift the plastic handle metal hammer with the left arm then strike block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Pick up the nail-driving hammer using the left arm then beat",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Use the silver hammer to hammer the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Take the silver curved hammer head and beat the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Hold the grippy handle hammer and pound the block.",
+    "With the left arm, pick up the grippy handle hammer and strike the block."
+  ],
+  "unseen": [
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode38.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e3d1d26c7634c2bfe5508936b6aa49d9bc7b46e
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the silver curved hammer head and use it to hit",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Take the grippy handle hammer and beat the block",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Grab the silver hammer to beat the block.",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Beat the block after grabbing the grippy handle hammer",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Grab the silver hammer, then strike the block.",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Take the hammer for nails and strike the block",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Take the hammer for nails and smash the block.",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Use the left arm to grab the silver hammer and beat block",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Hold the nail-driving hammer then hit the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Take the hammer for nails and beat the block",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Beat the block after grabbing the silver hammer",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Pick up the silver hammer and strike the block",
+    "Pick the silver curved hammer head from the table and strike",
+    "Lift the silver hammer using the left arm to hit the block.",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Take the grippy handle hammer and hammer the block",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Pick the nail-driving hammer and smash the block",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Take the grippy handle hammer and strike the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Lift the nail-driving hammer and hit the block.",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the hammer with claw-shaped end with the left arm and strike block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and hit the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode39.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..a145bed091d9adf44d272ee051fb460a0dee8593
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer for nails using the right arm then pound block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Grab the silver hammer, then hit the block",
+    "Take the nail-driving hammer using the right arm, hit the block.",
+    "Grab the handheld medium claw hammer using the right arm and strike the block",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Use the hammer for nails to beat after grabbing with the right arm",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Take the nail-driving hammer and smash the block.",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Lift the silver hammer and hit the block.",
+    "Grab the hammer for nails to beat the block.",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Use the hammer for nails to hammer the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Grab the silver hammer using the right arm and hit the block",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the silver hammer with the right arm and hit block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Grab the hammer for nails and use it to hit",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Take the silver curved hammer head and strike the block",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Use the right arm to grab the hammer for nails and beat",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Grab the silver curved hammer head, then hit the block",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "With the right arm, grab the hammer for nails and hammer the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Take the silver hammer and smash the block.",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Employ the right arm to grab the silver curved hammer head and hit.",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Use the right arm to grab the hammer with claw-shaped end and beat block",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Lift the silver curved hammer head and hit the block",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Take the hammer for nails and strike the block",
+    "With the right arm, pick up the silver hammer and strike the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Take the silver curved hammer head and beat the block"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode4.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..182931742f5355b8508f461e1b0a55fa14d85a90
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the yellow and black hammer grip and strike the block",
+    "Lift the hammer for nails and hit the block.",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Beat the block after grabbing the silver hammer",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Take the hammer for nails and strike the block",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Lift the medium-sized metal hammer using the right arm to hit the block.",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Hold the silver hammer and pound the block.",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Grab the grippy handle hammer to beat the block.",
+    "Pick the yellow and black hammer grip and smash the block",
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "With the right arm, grab the nail-driving hammer and hammer the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Use the hammer with two-tone handle to beat after grabbing with the right arm",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Use the right arm to take the plastic handle metal hammer and strike",
+    "Grab the grippy handle hammer and use it to hit",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Pick up the silver curved hammer head and strike the block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Take the silver hammer and strike the block",
+    "Lift the silver curved hammer head and hit the block.",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Take the silver curved hammer head and smash the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "Catch the hammer for nails and use it on the block.",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "Use the silver hammer to hammer the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Make the right arm grab the silver hammer and strike the block.",
+    "Hold the grippy handle hammer and pound the block.",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Grab the silver hammer to beat the block.",
+    "Pick the hammer for nails and smash the block",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Lift the hammer for nails and hit the block",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm",
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Grab the handheld medium claw hammer with the right arm and hit the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Hold the grippy handle hammer then hit the block",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "Use the right arm to grab the silver hammer and beat block",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "Pick the silver hammer from the table and strike",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Grab the nail-driving hammer, then hit the block"
+  ],
+  "unseen": [
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode40.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..df05497d3a662a9672ddc7aabcaab3a23bc1c136
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Pick the silver curved hammer head and smash the block",
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "Take the grippy handle hammer and strike the block",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Use the right arm to grab the plastic handle metal hammer and beat",
+    "Grab the black and yellow hammer grip using the right arm then pound block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Pick the silver curved hammer head from the table and strike",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "With the right arm, grab the hammer for nails and hammer the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Use the right arm to take the silver hammer and strike",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the hammer for nails, then hit the block",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Take the hammer for nails and beat the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Hold the silver curved hammer head then hit the block",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Lift the hammer for nails and hit the block",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Pick up the medium-sized metal hammer using the right arm then beat",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Pick the nail-driving hammer and smash the block",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Use the hammer for nails to beat after grabbing with the right arm",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "With the right arm, grab the plastic handle metal hammer and beat the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Pick the silver hammer from the table and strike",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "With the right arm, grab the hammer for nails and hammer the block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Pick up the silver hammer and strike the block",
+    "Take the silver curved hammer head and beat the block",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "With the right arm, pick up the grippy handle hammer and strike the block.",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Take the silver hammer and beat the block",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "Grab the yellow and black hammer grip using the right arm and strike the block"
+  ],
+  "unseen": [
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode41.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3f7af0ab830015687a581cfb7d7b79c25247834
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the grippy handle hammer, then hit the block",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Lift the silver hammer and hit the block",
+    "Lift the silver hammer and hit the block.",
+    "Take the hammer for nails and hammer the block",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Use the left arm to take the silver hammer and strike",
+    "Take the grippy handle hammer and strike the block",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Grab the handheld medium claw hammer using the left arm and hit the block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Take the nail-driving hammer and strike the block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Grab the grippy handle hammer to beat the block.",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Take the silver hammer and beat the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Use the left arm to grab the hammer with two-tone handle and beat block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Lift the nail-driving hammer and hit the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Pick up the silver hammer and strike the block",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Take the handheld medium claw hammer and strike the block",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Use the plastic handle metal hammer to beat after grabbing with the left arm",
+    "Pick the nail-driving hammer and smash the block",
+    "Take the hammer for nails and strike the block",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Grab the hammer for nails to beat the block.",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Hold the grippy handle hammer then hit the block",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Pick the silver hammer with the left arm and hit the block",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Hold the silver hammer and pound the block.",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "Lift the silver hammer with the left arm then strike block",
+    "Take the nail-driving hammer and beat the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Use the left arm to grab the silver hammer and beat block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode42.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfac74e6318cd6720ab0a560a05cd4581b3dc7fc
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handheld medium claw hammer using the right arm and strike the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Grab the plastic handle metal hammer with the right arm and beat the block.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Make the right arm grab the silver hammer and strike the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Take the silver curved hammer head and beat the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Pick up the silver curved hammer head and strike the block",
+    "Grab the hammer for nails with the right arm and strike block",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Lift the medium-sized metal hammer using the right arm to hit the block.",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Take the silver curved hammer head and strike the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Use the silver curved hammer head to beat after grabbing with the right arm",
+    "Use the right arm to grab the silver hammer and beat",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "Use the right arm to grab the silver hammer and beat block",
+    "Grab the hammer for nails, then strike the block.",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "With the right arm, grab the plastic handle metal hammer and beat the block.",
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Grab the plastic handle metal hammer with the right arm and beat the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Lift the hammer for nails and hit the block",
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Pick up the silver curved hammer head with the right arm, strike the block.",
+    "Lift the plastic handle metal hammer with the right arm then strike block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Take the medium-sized metal hammer and beat the block",
+    "Pick the silver curved hammer head and smash the block",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "Take the silver hammer and beat the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Use the silver hammer to hammer the block.",
+    "Grab the silver curved hammer head and use it to hit",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Grab the nail-driving hammer, then hit the block",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Use the right arm to take the silver hammer and strike",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Hold the silver hammer then hit the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Beat the block after grabbing the silver hammer",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Use the right arm to grab the silver hammer and beat block",
+    "Grab the silver hammer, then strike the block.",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Pick up the silver hammer using the right arm, hammer the block.",
+    "Pick the hammer for nails with the right arm and hit the block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode43.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..04dea7c88fda26b8c176322a95f027d8c76e47e7
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the yellow and black hammer grip using the right arm and strike the block",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Pick the hammer for nails and smash the block",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Pick up the hammer for nails and strike the block",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Take the hammer for nails and strike the block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Pick the silver hammer from the table and strike",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Pick the hammer for nails and strike the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Grab the hammer for nails with the right arm and hit block",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Hold the silver hammer then hit the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the grippy handle hammer to beat the block.",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Lift the silver curved hammer head and hit the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "Lift the yellow and black hammer grip using the right arm to hit the block.",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Pick up the yellow and black hammer grip using the right arm, hammer the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Grab the hammer with two-tone handle with the right arm and beat the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Hold the silver hammer and pound the block.",
+    "Pick up the silver hammer using the right arm then beat",
+    "Take the grippy handle hammer and smash the block.",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Catch the silver hammer and use it on the block.",
+    "Utilize the right arm to hold the hammer with two-tone handle and strike.",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Grab the nail-driving hammer, then hit the block",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Use the right arm to grab the silver hammer and beat block",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Pick the nail-driving hammer from the table and strike",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Grab the silver curved hammer head using the right arm and hit the block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Take the nail-driving hammer and beat the block",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Lift the grippy handle hammer and hit the block",
+    "Pick up the hammer for nails and use it on the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Grab the hammer with claw-shaped end with the right arm and hit the block",
+    "Grab the plastic handle metal hammer using the right arm then pound block",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Beat the block after grabbing the grippy handle hammer",
+    "With the right arm, pick up the silver curved hammer head and strike the block."
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode44.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..8575a374b1c01b7d5a02437e09edfc05e33bb6ca
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "Grab the medium-sized metal hammer with the right arm and hit the block",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Pick up the silver curved hammer head and strike the block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Use the right arm to grab the silver hammer and beat block",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Pick up the plastic handle metal hammer using the right arm then beat",
+    "Grab the silver hammer with the right arm and hit block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Hold the grippy handle hammer and pound the block.",
+    "Grab the silver hammer using the right arm then pound block",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Take the hammer with two-tone handle and hammer the block",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Grab the medium-sized metal hammer with the right arm and beat the block.",
+    "With the right arm, pick up the hammer for nails and strike the block.",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Lift the medium-sized metal hammer using the right arm to hit the block.",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Grab the silver hammer, then strike the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Grab the silver curved hammer head, then hit the block",
+    "Take the nail-driving hammer and smash the block.",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Take the nail-driving hammer using the right arm, hit the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick the nail-driving hammer and smash the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Catch the silver hammer and use it on the block.",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Grab the yellow and black hammer grip using the right arm then pound block",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "Take the hammer for nails and hammer the block",
+    "With the right arm, grab the plastic handle metal hammer and hit the block",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "With the right arm, grab the silver curved hammer head and hammer the block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Grab the yellow and black hammer grip with the right arm and beat the block."
+  ],
+  "unseen": [
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode45.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..25494aee632642827a19cf300e75e3098b91ae0a
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the medium-sized metal hammer with the right arm, strike the block.",
+    "Catch the hammer for nails and use it on the block.",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Use the right arm to grab the medium-sized metal hammer and beat",
+    "Lift the hammer for nails and hit the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick the silver curved hammer head with the right arm and hit the block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Pick up the medium-sized metal hammer using the right arm, hammer the block.",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Use the right arm to grab the medium-sized metal hammer and beat block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Take the silver hammer and hammer the block",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Grab the silver hammer with the right arm and hit block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Grab the nail-driving hammer using the right arm and strike the block",
+    "Pick up the silver hammer and use it on the block",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Grab the hammer for nails, then strike the block.",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Grab the hammer with two-tone handle with the right arm and strike block",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "Lift the yellow and black hammer grip using the right arm to hit the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Take the silver curved hammer head and beat the block",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Use the right arm to grab the silver hammer and beat",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Take the silver hammer and beat the block",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Take the silver curved hammer head and smash the block.",
+    "Lift the hammer with claw-shaped end with the right arm then strike block",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Lift the grippy handle hammer and hit the block.",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "With the right arm, pick up the silver hammer and strike the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Pick the nail-driving hammer and strike the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Pick up the silver hammer using the right arm then beat",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Grab the medium-sized metal hammer with the right arm and hit block",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Grab the plastic handle metal hammer using the right arm and strike the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Grab the silver hammer, then strike the block.",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Grab the hammer with claw-shaped end with the right arm and hit the block",
+    "Use the right arm to take the medium-sized metal hammer and strike",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "Lift the yellow and black hammer grip using the right arm to hit the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Take the hammer with claw-shaped end and beat the block"
+  ],
+  "unseen": [
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode46.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..987be46d7090e5dd140e0b2523b8f407d98c4098
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Pick the silver curved hammer head and smash the block",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Make the left arm grab the grippy handle hammer and strike the block.",
+    "Grab the silver hammer, then strike the block.",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Catch the hammer for nails and use it on the block.",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Grab the silver hammer to beat the block.",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Hold the hammer with two-tone handle then hit the block",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Take the nail-driving hammer and hammer the block",
+    "Lift the hammer for nails and hit the block",
+    "Grab the silver hammer with the left arm and hit block",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Use the left arm to grab the silver hammer and beat",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Use the left arm to take the silver hammer and strike",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "Grab the hammer with two-tone handle with the left arm and hit the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Catch the hammer for nails and use it on the block.",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Lift the silver hammer, then beat the block.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Take the hammer for nails and beat the block",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Take the silver hammer and strike the block",
+    "Hold the nail-driving hammer then hit the block",
+    "With the left arm, pick up the hammer with two-tone handle and strike the block.",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Hold the silver hammer and pound the block.",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Grab the hammer for nails and use it to hit",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Grab the hammer for nails, then hit the block"
+  ],
+  "unseen": [
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode47.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..e43ff810623e6cfda3611ecb38b828c0d72d812e
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Use the right arm to take the black and yellow hammer grip and strike",
+    "With the right arm, grab the yellow and black hammer grip and hit the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Grab the nail-driving hammer to beat the block.",
+    "Use the grippy handle hammer to hammer the block.",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Lift the black and yellow hammer grip using the right arm to hit the block.",
+    "Lift the handheld medium claw hammer and hit the block",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Lift the silver hammer, then beat the block.",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Utilize the right arm to hold the hammer for nails and strike.",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Grab the hammer for nails using the right arm and hit the block",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Use the right arm to grab the hammer with claw-shaped end and beat",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Make the right arm grab the medium-sized metal hammer and strike the block.",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "With the right arm, grab the hammer for nails and hammer the block",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Grab the hammer for nails with the right arm and hit block",
+    "Pick the silver hammer and smash the block",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Grab the silver hammer using the right arm and strike the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Grab the silver hammer using the right arm and hit the block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Use the right arm to grab the silver hammer and beat",
+    "Pick up the silver curved hammer head with the right arm, strike the block.",
+    "Grab the hammer with claw-shaped end using the right arm then pound block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Make the right arm grab the silver hammer and strike the block.",
+    "Grab the plastic handle metal hammer using the right arm, then beat the block",
+    "Grab the yellow and black hammer grip with the right arm and beat the block.",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Grab the hammer for nails with the right arm and hit the block",
+    "Grab the grippy handle hammer with the right arm and strike block",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Use the grippy handle hammer to beat after grabbing with the right arm",
+    "Lift the grippy handle hammer and hit the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "With the right arm, pick up the hammer with two-tone handle and strike the block.",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Take the silver hammer and strike the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Pick up the silver hammer and use it on the block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode48.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..97d7322b3ed834b0ccb2406c5317daed0e5960fb
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the silver hammer using the left arm and hit the block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Grab the hammer for nails, then hit the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Grab the silver hammer to beat the block.",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Hold the hammer for nails then hit the block",
+    "Lift the hammer for nails, then beat the block.",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Grab the hammer with two-tone handle using the left arm then pound block",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Use the left arm to take the medium-sized metal hammer and strike",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Take the nail-driving hammer and hammer the block",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Grab the nail-driving hammer, then hit the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Pick up the silver hammer and use it on the block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Lift the hammer for nails, then beat the block.",
+    "Utilize the left arm to hold the medium-sized metal hammer and strike.",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Grab the silver hammer and use it to hit",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Take the silver hammer and strike the block",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Take the silver curved hammer head and hammer the block",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Pick the hammer for nails from the table and strike",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Pick up the grippy handle hammer and strike the block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode49.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..800a8cf638a98050f1e644d919b62fff3508ccb4
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the grippy handle hammer to beat the block.",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Lift the grippy handle hammer using the left arm to hit the block.",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "Hold the hammer for nails then hit the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Grab the silver hammer using the left arm then pound block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Grab the silver hammer, then strike the block.",
+    "Utilize the left arm to hold the hammer with two-tone handle and strike.",
+    "Employ the left arm to grab the yellow and black hammer grip and hit.",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Hold the hammer for nails and pound the block.",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "Use the left arm to grab the silver hammer and beat",
+    "Grab the silver curved hammer head to beat the block.",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the silver curved hammer head, then hit the block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Pick the grippy handle hammer from the table and strike",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Take the silver curved hammer head and smash the block.",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Take the silver hammer and strike the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Beat the block after grabbing the silver hammer",
+    "Pick up the silver hammer and strike the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Use the left arm to grab the black and yellow hammer grip and beat"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode5.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..84aec02881c61f938ae1a798dd7131ee3b67229d
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the silver hammer and pound the block.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Grab the hammer for nails and use it to hit",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Pick the silver hammer and strike the block.",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Take the hammer for nails and smash the block.",
+    "Lift the hammer for nails, then beat the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Pick up the silver hammer and use it on the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Pick the nail-driving hammer and smash the block",
+    "Lift the grippy handle hammer using the left arm to hit the block.",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Grab the silver curved hammer head, then hit the block",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Grab the silver hammer and use it to hit",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Lift the nail-driving hammer and hit the block.",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Lift the grippy handle hammer and hit the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Use the grippy handle hammer to hammer the block.",
+    "Grab the grippy handle hammer, then hit the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Hold the handheld medium claw hammer then hit the block"
+  ],
+  "unseen": [
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode6.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b7d086ee42f0f7550220c7f3a02f9bf77c8876b
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Employ the left arm to grab the plastic handle metal hammer and hit.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Pick up the silver curved hammer head and strike the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "With the left arm, grab the hammer for nails and hit the block",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Lift the grippy handle hammer and hit the block",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Grab the grippy handle hammer using the left arm and hit the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Grab the grippy handle hammer, then hit the block",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Take the silver hammer and hammer the block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Pick up the grippy handle hammer using the left arm then beat",
+    "Use the left arm to grab the nail-driving hammer and beat",
+    "Hold the grippy handle hammer then hit the block",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Use the left arm to take the silver curved hammer head and strike",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Utilize the left arm to hold the yellow and black hammer grip and strike.",
+    "Take the grippy handle hammer and smash the block.",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the plastic handle metal hammer using the left arm and strike the block",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "Pick the hammer for nails and strike the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Lift the yellow and black hammer grip with the left arm then strike block",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Take the hammer for nails and beat the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Take the hammer with two-tone handle and hammer the block",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Use the left arm to grab the hammer with two-tone handle and beat",
+    "Hold the nail-driving hammer then hit the block",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Lift the hammer for nails, then beat the block.",
+    "Take the hammer for nails and strike the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Lift the grippy handle hammer and hit the block.",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Use the left arm to take the silver curved hammer head and strike",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Use the hammer for nails to hammer the block.",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "Pick the hammer for nails from the table and strike",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Take the grippy handle hammer and strike the block",
+    "Grab the yellow and black hammer grip using the left arm and strike the block"
+  ],
+  "unseen": [
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode7.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..07ad73254bfd401d562f40387bbdb8bb941fcbb1
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Lift the silver hammer with the right arm then strike block",
+    "Grab the nail-driving hammer using the right arm and hit the block",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Pick up the medium-sized metal hammer with the right arm, strike the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Take the hammer for nails and strike the block",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "Pick the silver hammer from the table and strike",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Grab the nail-driving hammer using the right arm then pound block",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the right arm",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Hold the grippy handle hammer then hit the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Beat the block after grabbing the silver hammer",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "Pick up the medium-sized metal hammer using the right arm then beat",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Use the silver hammer to hammer the block.",
+    "Lift the nail-driving hammer and hit the block.",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Take the silver hammer and hammer the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "With the right arm, grab the hammer with claw-shaped end and beat the block.",
+    "Grab the silver curved hammer head to beat the block.",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Grab the grippy handle hammer with the right arm and beat the block.",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Pick up the hammer with claw-shaped end using the right arm, hammer the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Take the nail-driving hammer and strike the block",
+    "Pick the silver hammer and smash the block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Pick the hammer for nails and strike the block.",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Grab the medium-sized metal hammer using the right arm, then beat the block",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Take the hammer for nails and strike the block",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Grab the silver hammer with the right arm and strike block",
+    "Pick up the black and yellow hammer grip using the right arm then beat",
+    "Lift the nail-driving hammer and hit the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Lift the grippy handle hammer and hit the block.",
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Grab the black and yellow hammer grip using the right arm and strike the block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "With the right arm, grab the handheld medium claw hammer and hit the block",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Grab the hammer for nails to beat the block.",
+    "Grab the silver curved hammer head with the right arm and hit block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Grab the yellow and black hammer grip with the right arm and beat the block.",
+    "Employ the right arm to grab the yellow and black hammer grip and hit."
+  ],
+  "unseen": [
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block."
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode8.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..47bcb63fd34f77ed7f02cc621bac17a01ad21306
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Take the hammer for nails and strike the block",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Pick up the hammer for nails and use it on the block",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Take the handheld medium claw hammer and beat the block",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Pick up the silver hammer and strike the block",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Lift the plastic handle metal hammer with the left arm then strike block",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Lift the hammer for nails and hit the block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Pick the hammer for nails and strike the block.",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Pick the hammer for nails and smash the block",
+    "Take the silver hammer and beat the block",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "With the left arm, grab the hammer with two-tone handle and beat the block.",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Hold the nail-driving hammer then hit the block",
+    "Pick the nail-driving hammer from the table and strike",
+    "Grab the nail-driving hammer, then hit the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick up the hammer for nails using the left arm then beat",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Hold the grippy handle hammer and pound the block.",
+    "Take the silver hammer and strike the block",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Pick up the silver hammer and use it on the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Use the left arm to take the black and yellow hammer grip and strike",
+    "Take the plastic handle metal hammer and beat the block",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Pick up the silver hammer and strike the block",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Pick up the handheld medium claw hammer using the left arm, hammer the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Grab the silver hammer with the left arm and strike block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Pick the hammer for nails and strike the block.",
+    "Take the grippy handle hammer using the left arm, hit the block.",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Take the hammer for nails and beat the block",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Hold the grippy handle hammer then hit the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Grab the nail-driving hammer, then hit the block",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Lift the plastic handle metal hammer and hit the block."
+  ],
+  "unseen": [
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode9.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9f74466c41ef90cb769e16e0fc53b1a8136f9f8
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the silver curved hammer head and strike the block",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Make the left arm grab the silver hammer and strike the block.",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Lift the silver hammer with the left arm then strike block",
+    "Pick the hammer for nails and strike the block.",
+    "Lift the grippy handle hammer and hit the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "With the left arm, grab the plastic handle metal hammer and hammer the block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Pick up the silver hammer using the left arm then beat",
+    "Pick the nail-driving hammer from the table and strike",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Grab the hammer for nails with the left arm and strike block",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Lift the nail-driving hammer and hit the block.",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Grab the hammer for nails using the left arm then pound block",
+    "With the left arm, pick up the grippy handle hammer and strike the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Grab the silver curved hammer head, then hit the block",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Grab the medium-sized metal hammer using the left arm, then beat the block",
+    "Pick up the silver hammer and use it on the block",
+    "Grab the silver curved hammer head and use it to hit",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Take the nail-driving hammer and smash the block.",
+    "Take the grippy handle hammer and strike the block",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Use the left arm to take the plastic handle metal hammer and strike",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "With the left arm, grab the grippy handle hammer and hammer the block",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block.",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Pick up the silver hammer using the left arm then beat",
+    "Pick the hammer for nails from the table and strike",
+    "Grab the silver hammer using the left arm and strike the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Pick the hammer for nails and smash the block",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Employ the left arm to grab the hammer with two-tone handle and hit.",
+    "Grab the silver curved hammer head with the left arm and hit block",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the silver hammer using the left arm then pound block",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Pick up the plastic handle metal hammer using the left arm, hammer the block.",
+    "Grab the silver hammer, then hit the block",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Take the yellow and black hammer grip and smash the block."
+  ],
+  "unseen": [
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/scene_info.json b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3635b2b553d9d757943555cfaff1795d20cf61f6
--- /dev/null
+++ b/robotwin_multiembodiments/beat_block_hammer/ur5-wsg/meta/scene_info.json
@@ -0,0 +1,552 @@
+{
+    "episode_0": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_17": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_18": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_19": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_20": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_21": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_22": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_23": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_24": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_25": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_26": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_27": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_28": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_29": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_30": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_31": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_32": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_33": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_34": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_35": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_36": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_37": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_38": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_39": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_40": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "right"
+        }
+    },
+    "episode_41": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "020_hammer/base0",
+            "{a}": "left"
+        }
+    },
+    "episode_42": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
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